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<div class="title">FloatingBaseModel&lt; T &gt; Class Template Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>&gt;</code></p>
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  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Inheritance diagram for FloatingBaseModel&lt; T &gt;:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6705a7e83c8223c327871d48e40ab37b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a6705a7e83c8223c327871d48e40ab37b">FloatingBaseModel</a> ()</td></tr>
<tr class="separator:a6705a7e83c8223c327871d48e40ab37b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91d31519dfa56e04c4f40c732011fa54"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a91d31519dfa56e04c4f40c732011fa54">~FloatingBaseModel</a> ()</td></tr>
<tr class="separator:a91d31519dfa56e04c4f40c732011fa54"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3dfc6605561bee26b4f7a893e44c78d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">addBase</a> (const <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &amp;inertia)</td></tr>
<tr class="separator:ab3dfc6605561bee26b4f7a893e44c78d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a845cab917d2763b5c8ad35f300411acc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a845cab917d2763b5c8ad35f300411acc">addBase</a> (T mass, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;com, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt; &amp;I)</td></tr>
<tr class="separator:a845cab917d2763b5c8ad35f300411acc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f2a319bbd26e5e7f91c7d3b980e28c4"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a> (int bodyID, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;location, bool isFoot=false)</td></tr>
<tr class="separator:a3f2a319bbd26e5e7f91c7d3b980e28c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff2cddc3077b282fe3504ecd28bc08cb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">addGroundContactBoxPoints</a> (int bodyId, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;dims)</td></tr>
<tr class="separator:aff2cddc3077b282fe3504ecd28bc08cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adcff6806f39aedf95a3723fc10c6144e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a> (const <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &amp;inertia, const <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &amp;rotorInertia, T gearRatio, int parent, <a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a> jointType, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> jointAxis, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;Xtree, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;Xrot)</td></tr>
<tr class="separator:adcff6806f39aedf95a3723fc10c6144e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a633916e61baece769965271dee7e266f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a633916e61baece769965271dee7e266f">addBody</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt; &amp;inertia, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt; &amp;rotorInertia, T gearRatio, int parent, <a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a> jointType, <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> jointAxis, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;Xtree, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;Xrot)</td></tr>
<tr class="separator:a633916e61baece769965271dee7e266f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af6a72105c1c1ad7565d8dbbfaba401eb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#af6a72105c1c1ad7565d8dbbfaba401eb">check</a> ()</td></tr>
<tr class="separator:af6a72105c1c1ad7565d8dbbfaba401eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76cd0fcd431c77e002d8e111b2880cbe"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a76cd0fcd431c77e002d8e111b2880cbe">totalRotorMass</a> ()</td></tr>
<tr class="separator:a76cd0fcd431c77e002d8e111b2880cbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac3e58feb2dceedb9739bc76bcaccbc98"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ac3e58feb2dceedb9739bc76bcaccbc98">totalNonRotorMass</a> ()</td></tr>
<tr class="separator:ac3e58feb2dceedb9739bc76bcaccbc98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a477c5193fa0c0f6e36314eca214a7248"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; int &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a477c5193fa0c0f6e36314eca214a7248">getParentVector</a> ()</td></tr>
<tr class="separator:a477c5193fa0c0f6e36314eca214a7248"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a445bbce9a3f0a56164b06d39760d2383"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt;, Eigen::aligned_allocator&lt; <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &gt; &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a445bbce9a3f0a56164b06d39760d2383">getBodyInertiaVector</a> ()</td></tr>
<tr class="separator:a445bbce9a3f0a56164b06d39760d2383"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c77595286da687122899d5e61139305"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt;, Eigen::aligned_allocator&lt; <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &gt; &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a4c77595286da687122899d5e61139305">getRotorInertiaVector</a> ()</td></tr>
<tr class="separator:a4c77595286da687122899d5e61139305"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32274ad578f7ad30bd79e786b62cdd62"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">setGravity</a> (<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;g)</td></tr>
<tr class="separator:a32274ad578f7ad30bd79e786b62cdd62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac14c1462d64d29ce58d3f002d6d459b9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ac14c1462d64d29ce58d3f002d6d459b9">setContactComputeFlag</a> (size_t gc_index, bool flag)</td></tr>
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<tr class="memitem:a759338421e6adbe3a0a69e42271d43d4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a759338421e6adbe3a0a69e42271d43d4">invContactInertia</a> (const int gc_index, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a>&lt; T &gt; &amp;force_directions)</td></tr>
<tr class="separator:a759338421e6adbe3a0a69e42271d43d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a423baeb491e9bc75a91ddde370c3f647"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a423baeb491e9bc75a91ddde370c3f647">invContactInertia</a> (const int gc_index, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;force_ics_at_contact)</td></tr>
<tr class="separator:a423baeb491e9bc75a91ddde370c3f647"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1edbea0371cffe8692a83ae5a9396e41"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a1edbea0371cffe8692a83ae5a9396e41">applyTestForce</a> (const int gc_index, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;force_ics_at_contact, <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;dstate_out)</td></tr>
<tr class="separator:a1edbea0371cffe8692a83ae5a9396e41"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a210aa49a2de27eae6f3a0a839413c3b2"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a210aa49a2de27eae6f3a0a839413c3b2">applyTestForce</a> (const int gc_index, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;force_ics_at_contact, <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;dstate_out)</td></tr>
<tr class="separator:a210aa49a2de27eae6f3a0a839413c3b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee861a77ddcefb97d62f0f535ee97508"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#aee861a77ddcefb97d62f0f535ee97508">addDynamicsVars</a> (int count)</td></tr>
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<tr class="memitem:a8caeb9858d5b992b6e9f9d525be81376"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a8caeb9858d5b992b6e9f9d525be81376">resizeSystemMatricies</a> ()</td></tr>
<tr class="separator:a8caeb9858d5b992b6e9f9d525be81376"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a575819811abf1d4b8e527b22aead4013"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a575819811abf1d4b8e527b22aead4013">setState</a> (const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;state)</td></tr>
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<tr class="memitem:ad9cdd4fa0510e9724d94a4e876e9fcd8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ad9cdd4fa0510e9724d94a4e876e9fcd8">resetCalculationFlags</a> ()</td></tr>
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<tr class="memitem:a2d964c688ec772c624a55a7b185a3065"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a2d964c688ec772c624a55a7b185a3065">setDState</a> (const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;dState)</td></tr>
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<tr class="memitem:a701f7e9f31622845a4a49b30b0846d55"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a701f7e9f31622845a4a49b30b0846d55">getPosition</a> (const int link_idx, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;local_pos)</td></tr>
<tr class="separator:a701f7e9f31622845a4a49b30b0846d55"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a46aad02aba5eae6cb0a6cda14780ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a6a46aad02aba5eae6cb0a6cda14780ce">getPosition</a> (const int link_idx)</td></tr>
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<tr class="memitem:a72dd957e465044ebd8f007385bdf6b29"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a> (const int link_idx)</td></tr>
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<tr class="memitem:ac4097f466bc8a392a88273e33c17bb50"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ac4097f466bc8a392a88273e33c17bb50">getLinearVelocity</a> (const int link_idx, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;point)</td></tr>
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<tr class="memitem:a9d82b1121cc0d526d39fd27ef310ce0c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a9d82b1121cc0d526d39fd27ef310ce0c">getLinearVelocity</a> (const int link_idx)</td></tr>
<tr class="separator:a9d82b1121cc0d526d39fd27ef310ce0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a79fe9f46e0e6617b6e68a6f267f877dc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a79fe9f46e0e6617b6e68a6f267f877dc">getLinearAcceleration</a> (const int link_idx, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;point)</td></tr>
<tr class="separator:a79fe9f46e0e6617b6e68a6f267f877dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab82859c2d81cdf70f26bfdef9eb12e45"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ab82859c2d81cdf70f26bfdef9eb12e45">getLinearAcceleration</a> (const int link_idx)</td></tr>
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<tr class="memitem:a33ff105654083ed8c395097fd208b174"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a33ff105654083ed8c395097fd208b174">getAngularVelocity</a> (const int link_idx)</td></tr>
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<tr class="memitem:a5247d4939f30a11b61bebdaa3e55ce5b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a5247d4939f30a11b61bebdaa3e55ce5b">getAngularAcceleration</a> (const int link_idx)</td></tr>
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<tr class="memitem:a4c4c27d3bc26c3ad1a3306d16b57f085"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a> ()</td></tr>
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<tr class="memitem:abd6c4bde8153cace7d96761c7d6c56cc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">biasAccelerations</a> ()</td></tr>
<tr class="separator:abd6c4bde8153cace7d96761c7d6c56cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ecf73ee1e17247d25f80b33c07da0fd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a4ecf73ee1e17247d25f80b33c07da0fd">compositeInertias</a> ()</td></tr>
<tr class="separator:a4ecf73ee1e17247d25f80b33c07da0fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d1ea8345adf3034553a1a7f6646bd5e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">forwardAccelerationKinematics</a> ()</td></tr>
<tr class="separator:a8d1ea8345adf3034553a1a7f6646bd5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afca11b3f8d117a20990d309666e1a8f3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#afca11b3f8d117a20990d309666e1a8f3">contactJacobians</a> ()</td></tr>
<tr class="separator:afca11b3f8d117a20990d309666e1a8f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae79c032f47bdee3795e4707429a27885"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ae79c032f47bdee3795e4707429a27885">generalizedGravityForce</a> ()</td></tr>
<tr class="separator:ae79c032f47bdee3795e4707429a27885"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48ee0323aedafce849ca9dec1ed6d9c0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a48ee0323aedafce849ca9dec1ed6d9c0">generalizedCoriolisForce</a> ()</td></tr>
<tr class="separator:a48ee0323aedafce849ca9dec1ed6d9c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73d58fada538f7d74ad94c48e5024b78"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a73d58fada538f7d74ad94c48e5024b78">massMatrix</a> ()</td></tr>
<tr class="separator:a73d58fada538f7d74ad94c48e5024b78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52b52a8b4c0460bd3520fc4b5356e1f9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a52b52a8b4c0460bd3520fc4b5356e1f9">inverseDynamics</a> (const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;dState)</td></tr>
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<tr class="memitem:a620e24c0c340885940f610875a35f3c7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a620e24c0c340885940f610875a35f3c7">runABA</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;tau, <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;dstate)</td></tr>
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<tr class="memitem:a98a73af4cee379189bc5e85ad502ff2d"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a98a73af4cee379189bc5e85ad502ff2d">getMassMatrix</a> () const </td></tr>
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<tr class="memitem:aa1935207d2cf06937b373cc502c873f6"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#aa1935207d2cf06937b373cc502c873f6">getGravityForce</a> () const </td></tr>
<tr class="separator:aa1935207d2cf06937b373cc502c873f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac59faf356eecc010c015e9cedabed7fc"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ac59faf356eecc010c015e9cedabed7fc">getCoriolisForce</a> () const </td></tr>
<tr class="separator:ac59faf356eecc010c015e9cedabed7fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aad1c033e1d94d42ee028accaf6a48b1e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a> ()</td></tr>
<tr class="separator:aad1c033e1d94d42ee028accaf6a48b1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a409343ac03c6aebaffdb288c6c65f892"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">updateForcePropagators</a> ()</td></tr>
<tr class="separator:a409343ac03c6aebaffdb288c6c65f892"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7c9130e9835487677c82edd2918f4e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ae7c9130e9835487677c82edd2918f4e0">udpateQddEffects</a> ()</td></tr>
<tr class="separator:ae7c9130e9835487677c82edd2918f4e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3400844efc7da45cdc833fefc577360a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a3400844efc7da45cdc833fefc577360a">resetExternalForces</a> ()</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a96762b2003a96d46767b15d7a3d083ea"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> = 0</td></tr>
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<tr class="memitem:a522468c0af5ec3a25cdf208fab71cba8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a></td></tr>
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<tr class="memitem:a9ccd6e6ef64691285c21c46f476cf606"><td class="memItemLeft" align="right" valign="top">vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a></td></tr>
<tr class="separator:a9ccd6e6ef64691285c21c46f476cf606"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbe2cb8c9a4b37c7d06e0314233a886c"><td class="memItemLeft" align="right" valign="top">vector&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a></td></tr>
<tr class="separator:adbe2cb8c9a4b37c7d06e0314233a886c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7fd02229fa714b1e6f29996a1c2f286"><td class="memItemLeft" align="right" valign="top">vector&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a></td></tr>
<tr class="separator:ab7fd02229fa714b1e6f29996a1c2f286"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8f8cb301ed7f7f0ef28f008ed0d5549"><td class="memItemLeft" align="right" valign="top">vector&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">_u</a></td></tr>
<tr class="separator:ad8f8cb301ed7f7f0ef28f008ed0d5549"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae40d2d4174e196396dac5d4b008256e0"><td class="memItemLeft" align="right" valign="top">vector&lt; <a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a></td></tr>
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<tr class="memitem:a8156e678f4dd1248a4db9ba4dcae0aee"><td class="memItemLeft" align="right" valign="top">vector&lt; <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a></td></tr>
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<tr class="memitem:afb96756832c10edf60bcb16a0a1589bd"><td class="memItemLeft" align="right" valign="top">vector&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt;, Eigen::aligned_allocator&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">_Xtree</a></td></tr>
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<tr class="memitem:a41ed06adf55fcf19f3c21164d5fa35af"><td class="memItemLeft" align="right" valign="top">Eigen::ColPivHouseholderQR&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class FloatingBaseModel&lt; T &gt;</h3>

<p>Class to represent a floating base rigid body model with rotors and ground contacts. No concept of state. </p>

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00069">69</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a6705a7e83c8223c327871d48e40ab37b"></a>
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<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::<a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a> </td>
          <td>(</td>
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<p>Initialize a floating base model with default gravity </p>

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00074">74</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;: <a class="code" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a>(0, 0, -9.81) {}</div><div class="ttc" id="class_floating_base_model_html_a522468c0af5ec3a25cdf208fab71cba8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">FloatingBaseModel::_gravity</a></div><div class="ttdeci">Vec3&lt; T &gt; _gravity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">FloatingBaseModel.h:239</a></div></div>
</div><!-- fragment -->
</div>
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<a class="anchor" id="a91d31519dfa56e04c4f40c732011fa54"></a>
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<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td>(</td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00075">75</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{}</div></div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
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template&lt;typename T&gt; </div>
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        <tr>
          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addBase </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>inertia</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Add floating base. Must be the first body added, and there can only be one</p>
<p>Create the floating body </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inertia</td><td>Spatial inertia of the floating body </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">267</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::X</a>.</p>
<div class="fragment"><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                                                                   {</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>) {</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Cannot add base multiple times!\n&quot;</span>);</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  }</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> eye6 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> zero6 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a> zeroInertia(zero6);</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="comment">// the floating base has 6 DOFs</span></div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> = 6;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 6; i++) {</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>.push_back(0);</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>.push_back(0);</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a>.push_back(JointType::Nothing);  <span class="comment">// doesn&#39;t actually matter</span></div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a>.push_back(CoordinateAxis::X);    <span class="comment">// doesn&#39;t actually matter</span></div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">_Xtree</a>.push_back(eye6);</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>.push_back(zeroInertia);</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">_Xrot</a>.push_back(eye6);</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>.push_back(zeroInertia);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8a6005d86e3ec07706a96ffa5366fc1e">_bodyNames</a>.push_back(<span class="stringliteral">&quot;N/A&quot;</span>);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  }</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a>[5] = JointType::FloatingBase;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[5] = inertia;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>[5] = 1;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8a6005d86e3ec07706a96ffa5366fc1e">_bodyNames</a>[5] = <span class="stringliteral">&quot;Floating Base&quot;</span>;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aee861a77ddcefb97d62f0f535ee97508">addDynamicsVars</a>(6);</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a8a6005d86e3ec07706a96ffa5366fc1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8a6005d86e3ec07706a96ffa5366fc1e">FloatingBaseModel::_bodyNames</a></div><div class="ttdeci">vector&lt; std::string &gt; _bodyNames</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00249">FloatingBaseModel.h:249</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a647e76b4459b43335cf528795bab72d5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">FloatingBaseModel::_Xrot</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8156e678f4dd1248a4db9ba4dcae0aee"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">FloatingBaseModel::_jointAxes</a></div><div class="ttdeci">vector&lt; CoordinateAxis &gt; _jointAxes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00245">FloatingBaseModel.h:245</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="class_floating_base_model_html_afb96756832c10edf60bcb16a0a1589bd"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">FloatingBaseModel::_Xtree</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xtree</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adbe2cb8c9a4b37c7d06e0314233a886c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">FloatingBaseModel::_gearRatios</a></div><div class="ttdeci">vector&lt; T &gt; _gearRatios</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00241">FloatingBaseModel.h:241</a></div></div>
<div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aee861a77ddcefb97d62f0f535ee97508"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aee861a77ddcefb97d62f0f535ee97508">FloatingBaseModel::addDynamicsVars</a></div><div class="ttdeci">void addDynamicsVars(int count)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00185">FloatingBaseModel.cpp:185</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae40d2d4174e196396dac5d4b008256e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">FloatingBaseModel::_jointTypes</a></div><div class="ttdeci">vector&lt; JointType &gt; _jointTypes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00244">FloatingBaseModel.h:244</a></div></div>
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<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addBase </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>mass</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>com</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>I</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Add floating base. Must be the first body added, and there can only be one</p>
<p>Create the floating body </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">mass</td><td>Mass of the floating body </td></tr>
    <tr><td class="paramname">com</td><td>Center of mass of the floating body </td></tr>
    <tr><td class="paramname">I</td><td>Rotational inertia of the floating body </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00305">305</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                                                     {</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a> IS(mass, com, I);</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">addBase</a>(IS);</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;}</div><div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab3dfc6605561bee26b4f7a893e44c78d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">FloatingBaseModel::addBase</a></div><div class="ttdeci">void addBase(const SpatialInertia&lt; T &gt; &amp;inertia)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">FloatingBaseModel.cpp:267</a></div></div>
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template&lt;typename T&gt; </div>
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          <td class="memname">int <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addBody </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>rotorInertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>gearRatio</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>parent</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a>&#160;</td>
          <td class="paramname"><em>jointType</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a>&#160;</td>
          <td class="paramname"><em>jointAxis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>Xtree</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>Xrot</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Add a body to the tree </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inertia</td><td>: Inertia of body (body coords) </td></tr>
    <tr><td class="paramname">rotorInertia</td><td>: Inertia of rotor (rotor coords) </td></tr>
    <tr><td class="paramname">gearRatio</td><td>: Gear ratio. &gt;1 for a gear reduction </td></tr>
    <tr><td class="paramname">parent</td><td>: Body ID of the link that the body is connected to </td></tr>
    <tr><td class="paramname">jointType</td><td>: Type of joint </td></tr>
    <tr><td class="paramname">jointAxis</td><td>: Axis of joint </td></tr>
    <tr><td class="paramname">Xtree</td><td>: Location of joint </td></tr>
    <tr><td class="paramname">Xrot</td><td>: Location of rotor </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: bodyID</dd></dl>
<p>Add a body </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inertia</td><td>The inertia of the body </td></tr>
    <tr><td class="paramname">rotorInertia</td><td>The inertia of the rotor the body is connected to </td></tr>
    <tr><td class="paramname">gearRatio</td><td>The gear ratio between the body and the rotor </td></tr>
    <tr><td class="paramname">parent</td><td>The parent body, which is also assumed to be the body the rotor is connected to </td></tr>
    <tr><td class="paramname">jointType</td><td>The type of joint (prismatic or revolute) </td></tr>
    <tr><td class="paramname">jointAxis</td><td>The joint axis (X,Y,Z), in the parent's frame </td></tr>
    <tr><td class="paramname">Xtree</td><td>The coordinate transformation from parent to this body </td></tr>
    <tr><td class="paramname">Xrot</td><td>The coordinate transformation from parent to this body's rotor </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The body's ID (can be used as the parent) </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">392</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;                                                                             {</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keywordflow">if</span> ((<span class="keywordtype">size_t</span>)parent &gt;= <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>) {</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="stringliteral">&quot;addBody got invalid parent: &quot;</span> + std::to_string(parent) +</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        <span class="stringliteral">&quot; nDofs: &quot;</span> + std::to_string(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>) + <span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  }</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>.push_back(parent);</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>.push_back(gearRatio);</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a>.push_back(jointType);</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a>.push_back(jointAxis);</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">_Xtree</a>.push_back(Xtree);</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">_Xrot</a>.push_back(Xrot);</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>.push_back(inertia);</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>.push_back(rotorInertia);</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>++;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aee861a77ddcefb97d62f0f535ee97508">addDynamicsVars</a>(1);</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>;</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a647e76b4459b43335cf528795bab72d5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">FloatingBaseModel::_Xrot</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8156e678f4dd1248a4db9ba4dcae0aee"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">FloatingBaseModel::_jointAxes</a></div><div class="ttdeci">vector&lt; CoordinateAxis &gt; _jointAxes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00245">FloatingBaseModel.h:245</a></div></div>
<div class="ttc" id="class_floating_base_model_html_afb96756832c10edf60bcb16a0a1589bd"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">FloatingBaseModel::_Xtree</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xtree</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adbe2cb8c9a4b37c7d06e0314233a886c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">FloatingBaseModel::_gearRatios</a></div><div class="ttdeci">vector&lt; T &gt; _gearRatios</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00241">FloatingBaseModel.h:241</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aee861a77ddcefb97d62f0f535ee97508"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aee861a77ddcefb97d62f0f535ee97508">FloatingBaseModel::addDynamicsVars</a></div><div class="ttdeci">void addDynamicsVars(int count)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00185">FloatingBaseModel.cpp:185</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae40d2d4174e196396dac5d4b008256e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">FloatingBaseModel::_jointTypes</a></div><div class="ttdeci">vector&lt; JointType &gt; _jointTypes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00244">FloatingBaseModel.h:244</a></div></div>
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<a class="anchor" id="a633916e61baece769965271dee7e266f"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addBody </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>rotorInertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>gearRatio</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>parent</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a>&#160;</td>
          <td class="paramname"><em>jointType</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a>&#160;</td>
          <td class="paramname"><em>jointAxis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>Xtree</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>Xrot</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Add a body to the tree </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inertia</td><td>: Inertia of body (body coords) </td></tr>
    <tr><td class="paramname">rotorInertia</td><td>: Inertia of rotor (rotor coords) </td></tr>
    <tr><td class="paramname">gearRatio</td><td>: Gear ratio. &gt;1 for a gear reduction </td></tr>
    <tr><td class="paramname">parent</td><td>: Body ID of the link that the body is connected to </td></tr>
    <tr><td class="paramname">jointType</td><td>: Type of joint </td></tr>
    <tr><td class="paramname">jointAxis</td><td>: Axis of joint </td></tr>
    <tr><td class="paramname">Xtree</td><td>: Location of joint </td></tr>
    <tr><td class="paramname">Xrot</td><td>: Location of rotor </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: bodyID</dd></dl>
<p>Add a body </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inertia</td><td>The inertia of the body </td></tr>
    <tr><td class="paramname">rotorInertia</td><td>The inertia of the rotor the body is connected to </td></tr>
    <tr><td class="paramname">gearRatio</td><td>The gear ratio between the body and the rotor </td></tr>
    <tr><td class="paramname">parent</td><td>The parent body, which is also assumed to be the body the rotor is connected to </td></tr>
    <tr><td class="paramname">jointType</td><td>The type of joint (prismatic or revolute) </td></tr>
    <tr><td class="paramname">jointAxis</td><td>The joint axis (X,Y,Z), in the parent's frame </td></tr>
    <tr><td class="paramname">Xtree</td><td>The coordinate transformation from parent to this body </td></tr>
    <tr><td class="paramname">Xrot</td><td>The coordinate transformation from parent to this body's rotor </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The body's ID (can be used as the parent) </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00432">432</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;                                                                             {</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(<a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(inertia), <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(rotorInertia),</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;                 gearRatio, parent, jointType, jointAxis, Xtree, Xrot);</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;}</div><div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adcff6806f39aedf95a3723fc10c6144e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">FloatingBaseModel::addBody</a></div><div class="ttdeci">int addBody(const SpatialInertia&lt; T &gt; &amp;inertia, const SpatialInertia&lt; T &gt; &amp;rotorInertia, T gearRatio, int parent, JointType jointType, CoordinateAxis jointAxis, const Mat6&lt; T &gt; &amp;Xtree, const Mat6&lt; T &gt; &amp;Xrot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">FloatingBaseModel.cpp:392</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addDynamicsVars </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>count</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Populate member variables when bodies are added </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">count</td><td>(6 for fb, 1 for joint) </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00185">185</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                                                    {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">if</span> (count != 1 &amp;&amp; count != 6) {</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="stringliteral">&quot;addDynamicsVars must be called with count=1 (joint) or count=6 &quot;</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="stringliteral">&quot;(base).\n&quot;</span>);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> eye6 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> zero6 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> zero66 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a> zeroInertia(zero66);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; i++) {</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>.push_back(zero6);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>.push_back(zero6);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>.push_back(zero6);</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a48f26bd42e5548d3def24cf4c0226656">_arot</a>.push_back(zero6);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>.push_back(zero6);</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b57183e6f6e289b5d497aaa93f9e96a">_avprot</a>.push_back(zero6);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>.push_back(zero6);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>.push_back(zero6);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>.push_back(zero6);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>.push_back(zero6);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>.push_back(zero6);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a7a1e059d13bd65fdf8b0312503bd03f7">_frot</a>.push_back(zero6);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>.push_back(zero6);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a26d4a6a73adb7857a7479acb1d90402d">_fvprot</a>.push_back(zero6);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>.push_back(zero6);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aea67c7c94028be76909bdc272805df93">_agrot</a>.push_back(zero6);</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>.push_back(zeroInertia);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>.push_back(eye6);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>.push_back(eye6);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>.push_back(eye6);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>.push_back(eye6);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>.push_back(0.);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">_u</a>.push_back(0.);</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>.push_back(eye6);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">_U</a>.push_back(zero6);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">_Urot</a>.push_back(zero6);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>.push_back(zero6);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a944db3928c026e9c5a55a3f636eec25b">_pA</a>.push_back(zero6);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a04a35058c5642a78b086a964a6c3338d">_pArot</a>.push_back(zero6);</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">_externalForces</a>.push_back(zero6);</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aaa1aab12e64d31f3c6894d8308cc2fe2">_J</a>.push_back(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat&lt;T&gt;::Zero</a>(6, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>));</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ae83e5fdbf8d7b58225d67277cef008ea">_Jdqd</a>.push_back(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;::Zero</a>());</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8caeb9858d5b992b6e9f9d525be81376">resizeSystemMatricies</a>();</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0231caceb234a1eace8c03dda00431dd"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, Eigen::Dynamic &gt; D6Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00110">cppTypes.h:110</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a7c6af1e7169a3076884f750b94d9d999"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">FloatingBaseModel::_ag</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _ag</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8dfcb1b10e1a1ae83a9a23d9e7653e8b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">FloatingBaseModel::_c</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _c</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a617042b4c0c0a0ec66e81a7f06641f61"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">FloatingBaseModel::_IC</a></div><div class="ttdeci">vectorAligned&lt; SpatialInertia&lt; T &gt; &gt; _IC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00279">FloatingBaseModel.h:279</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0175a880c72199694853ace01217b829"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">FloatingBaseModel::_externalForces</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _externalForces</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00277">FloatingBaseModel.h:277</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8842415410af02605cbf2727fc8df1d1"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">FloatingBaseModel::_fvp</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _fvp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5b2494f3b63d53369accdf3b2870bcbb"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">FloatingBaseModel::_f</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _f</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae82236029c85cde87f2af7126cbede1d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">FloatingBaseModel::_Utot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Utot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a26d4a6a73adb7857a7479acb1d90402d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a26d4a6a73adb7857a7479acb1d90402d">FloatingBaseModel::_fvprot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _fvprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5b57183e6f6e289b5d497aaa93f9e96a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5b57183e6f6e289b5d497aaa93f9e96a">FloatingBaseModel::_avprot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aeb5d2add3777574bfa13999ce8d2c8c2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">FloatingBaseModel::_vrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _vrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac6a51b862d4729c831c92cbf256688ec"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">FloatingBaseModel::_crot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _crot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a7a1e059d13bd65fdf8b0312503bd03f7"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a7a1e059d13bd65fdf8b0312503bd03f7">FloatingBaseModel::_frot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _frot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aaa1aab12e64d31f3c6894d8308cc2fe2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aaa1aab12e64d31f3c6894d8308cc2fe2">FloatingBaseModel::_J</a></div><div class="ttdeci">vectorAligned&lt; D6Mat&lt; T &gt; &gt; _J</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00285">FloatingBaseModel.h:285</a></div></div>
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<div class="ttc" id="class_floating_base_model_html_a8caeb9858d5b992b6e9f9d525be81376"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8caeb9858d5b992b6e9f9d525be81376">FloatingBaseModel::resizeSystemMatricies</a></div><div class="ttdeci">void resizeSystemMatricies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00242">FloatingBaseModel.cpp:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a01fa67b8a64827ca6d72e79734528bdf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">FloatingBaseModel::_Urot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Urot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac3d2507821db79aa7ca15b69e728a372"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">FloatingBaseModel::_avp</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae83e5fdbf8d7b58225d67277cef008ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae83e5fdbf8d7b58225d67277cef008ea">FloatingBaseModel::_Jdqd</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Jdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00286">FloatingBaseModel.h:286</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aa07cb7cfe417d83f34ec01ce53be17c5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">FloatingBaseModel::_U</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _U</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a944db3928c026e9c5a55a3f636eec25b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a944db3928c026e9c5a55a3f636eec25b">FloatingBaseModel::_pA</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _pA</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad8f8cb301ed7f7f0ef28f008ed0d5549"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">FloatingBaseModel::_u</a></div><div class="ttdeci">vector&lt; T &gt; _u</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aea67c7c94028be76909bdc272805df93"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aea67c7c94028be76909bdc272805df93">FloatingBaseModel::_agrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _agrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a04a35058c5642a78b086a964a6c3338d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a04a35058c5642a78b086a964a6c3338d">FloatingBaseModel::_pArot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _pArot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a48f26bd42e5548d3def24cf4c0226656"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a48f26bd42e5548d3def24cf4c0226656">FloatingBaseModel::_arot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _arot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af6dd90638211526cb3ad96efe0327e0e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">FloatingBaseModel::_IA</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _IA</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
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template&lt;typename T&gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addGroundContactBoxPoints </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>bodyId</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>dims</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Add bounding box collision points around a body. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">bodyId</td><td>: Body to add </td></tr>
    <tr><td class="paramname">dims</td><td>: Dimension of points</td></tr>
  </table>
  </dd>
</dl>
<p>Add the bounding points of a box to the contact model. Assumes the box is centered around the origin of the body coordinate system and is axis aligned. </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00360">360</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                                                                          {</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="comment">// addGroundContactPoint(bodyId, Vec3&lt;T&gt;( dims(0),  dims(1),  dims(2))/2);</span></div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="comment">// addGroundContactPoint(bodyId, Vec3&lt;T&gt;(-dims(0),  dims(1),  dims(2))/2);</span></div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="comment">// addGroundContactPoint(bodyId, Vec3&lt;T&gt;( dims(0), -dims(1),  dims(2))/2);</span></div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="comment">// addGroundContactPoint(bodyId, Vec3&lt;T&gt;(-dims(0), -dims(1),  dims(2))/2);</span></div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(dims(0), dims(1), 0.) / 2);</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-dims(0), dims(1), 0.) / 2);</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(dims(0), -dims(1), 0.) / 2);</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-dims(0), -dims(1), 0.) / 2);</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(dims(0), dims(1), -dims(2)) / 2);</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-dims(0), dims(1), -dims(2)) / 2);</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(dims(0), -dims(1), -dims(2)) / 2);</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyId, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-dims(0), -dims(1), -dims(2)) / 2);</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a3f2a319bbd26e5e7f91c7d3b980e28c4"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">FloatingBaseModel::addGroundContactPoint</a></div><div class="ttdeci">int addGroundContactPoint(int bodyID, const Vec3&lt; T &gt; &amp;location, bool isFoot=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">FloatingBaseModel.cpp:319</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
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template&lt;typename T&gt; </div>
      <table class="memname">
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          <td class="memname">int <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::addGroundContactPoint </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>bodyID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>location</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>isFoot</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<p>Add a point for collisions </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">bodyID</td><td>: body that the point belongs to (body 5 for floating base) </td></tr>
    <tr><td class="paramname">location</td><td>: location of point in body coordinates </td></tr>
    <tr><td class="paramname">isFoot</td><td>: if the point is a foot or not. Only feet have their Jacobian calculated on the robot </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>collisionPointID of the new point</dd></dl>
<p>Add a ground contact point to a model </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">bodyID</td><td>The ID of the body containing the contact point </td></tr>
    <tr><td class="paramname">location</td><td>The location (in body coordinate) of the contact point </td></tr>
    <tr><td class="paramname">isFoot</td><td>True if foot or not. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The ID of the ground contact point </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">319</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                                                             {</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keywordflow">if</span> ((<span class="keywordtype">size_t</span>)bodyID &gt;= <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>) {</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="stringliteral">&quot;addGroundContactPoint got invalid bodyID: &quot;</span> + std::to_string(bodyID) +</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <span class="stringliteral">&quot; nDofs: &quot;</span> + std::to_string(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>) + <span class="stringliteral">&quot;\n&quot;</span>);</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  }</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="comment">// std::cout &lt;&lt; &quot;pt-add: &quot; &lt;&lt; location.transpose() &lt;&lt; &quot;\n&quot;;</span></div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.push_back(bodyID);</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.push_back(location);</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> zero3 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a5566ab4692461d4240cec1fdbc2ab948">_pGC</a>.push_back(zero3);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a74c3f88954fd3f8884d20a1fb436c8cc">_vGC</a>.push_back(zero3);</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat&lt;T&gt;</a> J(3, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  J.setZero();</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">_Jc</a>.push_back(J);</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">_Jcdqd</a>.push_back(zero3);</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="comment">//_compute_contact_info.push_back(false);</span></div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">_compute_contact_info</a>.push_back(<span class="keyword">true</span>);</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="comment">// add foot to foot list</span></div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <span class="keywordflow">if</span> (isFoot) {</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#abb9ab3c0c626c9f25ab122e9ffcd25d4">_footIndicesGC</a>.push_back(<a class="code" href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">_nGroundContact</a>);</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">_compute_contact_info</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">_nGroundContact</a>] = <span class="keyword">true</span>;</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  }</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8caeb9858d5b992b6e9f9d525be81376">resizeSystemMatricies</a>();</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">_nGroundContact</a>++;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a3499630b53adb244528882597a670aaf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">FloatingBaseModel::_compute_contact_info</a></div><div class="ttdeci">vector&lt; bool &gt; _compute_contact_info</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00259">FloatingBaseModel.h:259</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a267a9a00ef07004c3c9adf8e889f7b13"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">FloatingBaseModel::_Jcdqd</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _Jcdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00289">FloatingBaseModel.h:289</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a74c3f88954fd3f8884d20a1fb436c8cc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a74c3f88954fd3f8884d20a1fb436c8cc">FloatingBaseModel::_vGC</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _vGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00257">FloatingBaseModel.h:257</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a190e396ab8cb0eb974ad2a5195edcb24"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, Eigen::Dynamic &gt; D3Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00114">cppTypes.h:114</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a854099df21c6973b77d72c3a240e6d85"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">FloatingBaseModel::_nGroundContact</a></div><div class="ttdeci">size_t _nGroundContact</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00251">FloatingBaseModel.h:251</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5566ab4692461d4240cec1fdbc2ab948"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5566ab4692461d4240cec1fdbc2ab948">FloatingBaseModel::_pGC</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _pGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00256">FloatingBaseModel.h:256</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8caeb9858d5b992b6e9f9d525be81376"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8caeb9858d5b992b6e9f9d525be81376">FloatingBaseModel::resizeSystemMatricies</a></div><div class="ttdeci">void resizeSystemMatricies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00242">FloatingBaseModel.cpp:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abb9ab3c0c626c9f25ab122e9ffcd25d4"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abb9ab3c0c626c9f25ab122e9ffcd25d4">FloatingBaseModel::_footIndicesGC</a></div><div class="ttdeci">vector&lt; uint64_t &gt; _footIndicesGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00254">FloatingBaseModel.h:254</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a202ffc31ffb2be152fbd3e7ae88e6aa6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">FloatingBaseModel::_Jc</a></div><div class="ttdeci">vectorAligned&lt; D3Mat&lt; T &gt; &gt; _Jc</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00288">FloatingBaseModel.h:288</a></div></div>
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template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">T <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::applyTestForce </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>gc_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>force_ics_at_contact</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>dstate_out</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
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<p>Apply a unit test force at a contact. Returns the inv contact inertia in that direction and computes the resultant qdd </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">gc_index</td><td>index of the contact </td></tr>
    <tr><td class="paramname">force_ics_at_contact</td><td>unit test forcoe  dstate - Output paramter of resulting accelerations </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the 1x1 inverse contact inertia J H^{-1} J^T </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00962">962</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FBModelStateDerivative&lt; T &gt;::dBodyVelocity</a>, and <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00061">FBModelStateDerivative&lt; T &gt;::qdd</a>.</p>
<div class="fragment"><div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;                                                                              {</div><div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a>();</div><div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">updateForcePropagators</a>();</div><div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7c9130e9835487677c82edd2918f4e0">udpateQddEffects</a>();</div><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;</div><div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;  <span class="keywordtype">size_t</span> i_opsp = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.at(gc_index);</div><div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;  <span class="keywordtype">size_t</span> i = i_opsp;</div><div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;</div><div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;  dstate_out.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a>.setZero();</div><div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;</div><div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;  <span class="comment">// Rotation to absolute coords</span></div><div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i].template block&lt;3, 3&gt;(0, 0).transpose();</div><div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xc = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(Rai, <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.at(gc_index));</div><div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;</div><div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;  <span class="comment">// D is one column of an extended force propagator matrix (See Wensing, 2012</span></div><div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  <span class="comment">// ICRA)</span></div><div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> F = Xc.transpose().template rightCols&lt;3&gt;() * force_ics_at_contact;</div><div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;</div><div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;  <span class="keywordtype">double</span> LambdaInv = 0;</div><div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;  <span class="keywordtype">double</span> tmp = 0;</div><div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;</div><div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;  <span class="comment">// from tips to base</span></div><div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;  <span class="keywordflow">while</span> (i &gt; 5) {</div><div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;    tmp = F.dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i]);</div><div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;    LambdaInv += tmp * tmp / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;    dstate_out.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a> += <a class="code" href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">_qdd_from_subqdd</a>.col(i - 6) * tmp / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;</div><div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;    <span class="comment">// Apply force propagator (see Pat&#39;s ICRA 2012 paper)</span></div><div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;    <span class="comment">// essentially, since the joint is articulated, only a portion of the force</span></div><div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;    <span class="comment">// is felt on the predecessor. So, while Xup^T sends a force backwards as if</span></div><div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;    <span class="comment">// the joint was locked, ChiUp^T sends the force backward as if the joint</span></div><div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;    <span class="comment">// were free</span></div><div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;    F = <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[i].transpose() * F;</div><div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;    i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;  }</div><div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;</div><div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;  <span class="comment">// TODO: Only carry out the QR once within update Aritculated Bodies</span></div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;  dstate_out.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a> = <a class="code" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a>.solve(F);</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;  LambdaInv += F.dot(dstate_out.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a>);</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;  dstate_out.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a> += <a class="code" href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">_qdd_from_base_accel</a> * dstate_out.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a>;</div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;  <span class="keywordflow">return</span> LambdaInv;</div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a409343ac03c6aebaffdb288c6c65f892"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">FloatingBaseModel::updateForcePropagators</a></div><div class="ttdeci">void updateForcePropagators()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00129">FloatingBaseModel.cpp:129</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a8b7b6d70f1b1268f02e1b291dad26c5d"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">FBModelStateDerivative::dBodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; dBodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FloatingBaseModel.h:60</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af2a69730c5168e05833b36dd74720e09"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">FloatingBaseModel::_qdd_from_subqdd</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_subqdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00312">FloatingBaseModel.h:312</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aad1c033e1d94d42ee028accaf6a48b1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">FloatingBaseModel::updateArticulatedBodies</a></div><div class="ttdeci">void updateArticulatedBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">FloatingBaseModel.cpp:142</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_af32a2041b72e6b30ed1c8a027d340fd2"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">FBModelStateDerivative::qdd</a></div><div class="ttdeci">DVec&lt; T &gt; qdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00061">FloatingBaseModel.h:61</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7c9130e9835487677c82edd2918f4e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7c9130e9835487677c82edd2918f4e0">FloatingBaseModel::udpateQddEffects</a></div><div class="ttdeci">void udpateQddEffects()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00098">FloatingBaseModel.cpp:98</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5a61e12fea447a5c9aaceb7125439552"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">FloatingBaseModel::_qdd_from_base_accel</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_base_accel</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00311">FloatingBaseModel.h:311</a></div></div>
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<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">T <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::applyTestForce </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>gc_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>force_ics_at_contact</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>dstate_out</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<p>Apply a unit test force at a contact. Returns the inv contact inertia in that direction and computes the resultant qdd </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">gc_index</td><td>index of the contact </td></tr>
    <tr><td class="paramname">force_ics_at_contact</td><td>unit test force expressed in inertial coordinates  dstate - Output paramter of resulting accelerations </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the 1x1 inverse contact inertia J H^{-1} J^T </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00040">40</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>.</p>
<div class="fragment"><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                                                            {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a>();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">updateForcePropagators</a>();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7c9130e9835487677c82edd2918f4e0">udpateQddEffects</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">size_t</span> i_opsp = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.at(gc_index);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">size_t</span> i = i_opsp;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  dstate_out = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;::Zero</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// Rotation to absolute coords</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i].template block&lt;3, 3&gt;(0, 0).transpose();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xc = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(Rai, <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.at(gc_index));</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">// D is one column of an extended force propagator matrix (See Wensing, 2012</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// ICRA)</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> F = Xc.transpose().template rightCols&lt;3&gt;() * force_ics_at_contact;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  T LambdaInv = 0;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  T tmp = 0;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// from tips to base</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">while</span> (i &gt; 5) {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    tmp = F.dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i]);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    LambdaInv += tmp * tmp / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    dstate_out.tail(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6) += <a class="code" href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">_qdd_from_subqdd</a>.col(i - 6) * tmp / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">// Apply force propagator (see Pat&#39;s ICRA 2012 paper)</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// essentially, since the joint is articulated, only a portion of the force</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// is felt on the predecessor. So, while Xup^T sends a force backwards as if</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// the joint was locked, ChiUp^T sends the force backward as if the joint</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// were free</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    F = <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[i].transpose() * F;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  dstate_out.head(6) = <a class="code" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a>.solve(F);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  LambdaInv += F.dot(dstate_out.head(6));</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  dstate_out.tail(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6) += <a class="code" href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">_qdd_from_base_accel</a> * dstate_out.head(6);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">return</span> LambdaInv;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a409343ac03c6aebaffdb288c6c65f892"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">FloatingBaseModel::updateForcePropagators</a></div><div class="ttdeci">void updateForcePropagators()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00129">FloatingBaseModel.cpp:129</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af2a69730c5168e05833b36dd74720e09"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">FloatingBaseModel::_qdd_from_subqdd</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_subqdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00312">FloatingBaseModel.h:312</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aad1c033e1d94d42ee028accaf6a48b1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">FloatingBaseModel::updateArticulatedBodies</a></div><div class="ttdeci">void updateArticulatedBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">FloatingBaseModel.cpp:142</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7c9130e9835487677c82edd2918f4e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7c9130e9835487677c82edd2918f4e0">FloatingBaseModel::udpateQddEffects</a></div><div class="ttdeci">void udpateQddEffects()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00098">FloatingBaseModel.cpp:98</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5a61e12fea447a5c9aaceb7125439552"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">FloatingBaseModel::_qdd_from_base_accel</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_base_accel</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00311">FloatingBaseModel.h:311</a></div></div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::biasAccelerations </td>
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<p>(Support Function) Computes velocity product accelerations of each link and rotor _avp, and _avprot </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00590">590</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;                                             {</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#aea7be798b3aa112fd7326538e60226a7">_biasAccelerationsUpToDate</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <span class="comment">// velocity product acceelration of base</span></div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[5] &lt;&lt; 0, 0, 0, 0, 0, 0;</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="comment">// from base to tips</span></div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    <span class="comment">// Outward kinamtic propagtion</span></div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>[i];</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b57183e6f6e289b5d497aaa93f9e96a">_avprot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>[i];</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  }</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aea7be798b3aa112fd7326538e60226a7">_biasAccelerationsUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a8dfcb1b10e1a1ae83a9a23d9e7653e8b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">FloatingBaseModel::_c</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _c</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5b57183e6f6e289b5d497aaa93f9e96a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5b57183e6f6e289b5d497aaa93f9e96a">FloatingBaseModel::_avprot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aea7be798b3aa112fd7326538e60226a7"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aea7be798b3aa112fd7326538e60226a7">FloatingBaseModel::_biasAccelerationsUpToDate</a></div><div class="ttdeci">bool _biasAccelerationsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00292">FloatingBaseModel.h:292</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac6a51b862d4729c831c92cbf256688ec"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">FloatingBaseModel::_crot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _crot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac3d2507821db79aa7ca15b69e728a372"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">FloatingBaseModel::_avp</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::check </td>
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<p>Very simple to check to make sure the dimensions are correct </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00442">442</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;                                 {</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> != <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>.size())</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Invalid dof and parents length&quot;</span>);</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::compositeInertias </td>
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<p>(Support Function) Computes the composite rigid body inertia of each subtree _IC[i] contains body i, and the body/rotor inertias of all successors of body i. (key note: _IC[i] does not contain rotor i) </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00753">753</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;                                             {</div><div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#a10e4020ed36da2a321dea9214f8f7b8f">_compositeInertiasUpToDate</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="comment">// initialize</span></div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 5; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[i].setMatrix(<a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMatrix());</div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  }</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  <span class="comment">// backward loop</span></div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = _nDof - 1; i &gt; 5; i--) {</div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    <span class="comment">// Propagate inertia down the tree</span></div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]].addMatrix(<a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[i].getMatrix() *</div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;                               <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i]);</div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]].addMatrix(<a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() *</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;                               <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i]);</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  }</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a10e4020ed36da2a321dea9214f8f7b8f">_compositeInertiasUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a617042b4c0c0a0ec66e81a7f06641f61"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">FloatingBaseModel::_IC</a></div><div class="ttdeci">vectorAligned&lt; SpatialInertia&lt; T &gt; &gt; _IC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00279">FloatingBaseModel.h:279</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a10e4020ed36da2a321dea9214f8f7b8f"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a10e4020ed36da2a321dea9214f8f7b8f">FloatingBaseModel::_compositeInertiasUpToDate</a></div><div class="ttdeci">bool _compositeInertiasUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00295">FloatingBaseModel.h:295</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
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template&lt;typename T &gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::contactJacobians </td>
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          <td class="paramname"></td><td>)</td>
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<p>Compute the contact Jacobians (3xn matrices) for the velocity of each contact point expressed in absolute coordinates </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00548">548</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>, and <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00289">spatial::spatialToLinearAcceleration()</a>.</p>
<div class="fragment"><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                                            {</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">biasAccelerations</a>();</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">_nGroundContact</a>; k++) {</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">_Jc</a>[k].setZero();</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">_Jcdqd</a>[k].setZero();</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="comment">// Skip it if we don&#39;t care about it</span></div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">_compute_contact_info</a>[k]) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    <span class="keywordtype">size_t</span> i = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.at(k);</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="comment">// Rotation to absolute coords</span></div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i].template block&lt;3, 3&gt;(0, 0).transpose();</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xc = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(Rai, <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.at(k));</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="comment">// Bias acceleration</span></div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> ac = Xc * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[i];</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> vc = Xc * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i];</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    <span class="comment">// Correct to classical</span></div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">_Jcdqd</a>[k] = <a class="code" href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatialToLinearAcceleration</a>(ac, vc);</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    <span class="comment">// rows for linear velcoity in the world</span></div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat&lt;T&gt;</a> Xout = Xc.template bottomRows&lt;3&gt;();</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    <span class="comment">// from tips to base</span></div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;    <span class="keywordflow">while</span> (i &gt; 5) {</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">_Jc</a>[k].col(i) = Xout * <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i];</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;      Xout = Xout * <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i];</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;      i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    }</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">_Jc</a>[k].template leftCols&lt;6&gt;() = Xout;</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  }</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a3499630b53adb244528882597a670aaf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">FloatingBaseModel::_compute_contact_info</a></div><div class="ttdeci">vector&lt; bool &gt; _compute_contact_info</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00259">FloatingBaseModel.h:259</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a267a9a00ef07004c3c9adf8e889f7b13"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">FloatingBaseModel::_Jcdqd</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _Jcdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00289">FloatingBaseModel.h:289</a></div></div>
<div class="ttc" id="namespacespatial_html_a13df9ec1359ecd4150251eaae0895198"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a></div><div class="ttdeci">auto spatialToLinearAcceleration(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00289">spatial.h:289</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a190e396ab8cb0eb974ad2a5195edcb24"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, Eigen::Dynamic &gt; D3Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00114">cppTypes.h:114</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abd6c4bde8153cace7d96761c7d6c56cc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">FloatingBaseModel::biasAccelerations</a></div><div class="ttdeci">void biasAccelerations()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00590">FloatingBaseModel.cpp:590</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a854099df21c6973b77d72c3a240e6d85"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">FloatingBaseModel::_nGroundContact</a></div><div class="ttdeci">size_t _nGroundContact</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00251">FloatingBaseModel.h:251</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac3d2507821db79aa7ca15b69e728a372"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">FloatingBaseModel::_avp</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a202ffc31ffb2be152fbd3e7ae88e6aa6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">FloatingBaseModel::_Jc</a></div><div class="ttdeci">vectorAligned&lt; D3Mat&lt; T &gt; &gt; _Jc</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00288">FloatingBaseModel.h:288</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00813">813</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;                                                         {</div><div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">_accelerationsUpToDate</a>) {</div><div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  }</div><div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;</div><div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">biasAccelerations</a>();</div><div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;</div><div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  <span class="comment">// Initialize gravity with model info</span></div><div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> aGravity = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;  aGravity.template tail&lt;3&gt;() = <a class="code" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a>;</div><div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;</div><div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;  <span class="comment">// Spatial force for floating base</span></div><div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[5] = -<a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[5] * aGravity + <a class="code" href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">_dState</a>.dBodyVelocity;</div><div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;</div><div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;  <span class="comment">// loop through joints</span></div><div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;    <span class="comment">// spatial acceleration</span></div><div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;    _a[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] * _a[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">_dState</a>.qdd[i - 6] + <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>[i];</div><div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a48f26bd42e5548d3def24cf4c0226656">_arot</a>[i] =</div><div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] * _a[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">_dState</a>.qdd[i - 6] + <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>[i];</div><div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;  }</div><div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">_accelerationsUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a8dfcb1b10e1a1ae83a9a23d9e7653e8b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">FloatingBaseModel::_c</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _c</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a712a346b405bb6093eb0fa13c8360f05"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">FloatingBaseModel::_dState</a></div><div class="ttdeci">FBModelStateDerivative&lt; T &gt; _dState</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00271">FloatingBaseModel.h:271</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abd6c4bde8153cace7d96761c7d6c56cc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">FloatingBaseModel::biasAccelerations</a></div><div class="ttdeci">void biasAccelerations()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00590">FloatingBaseModel.cpp:590</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a767d6f7ab657716cb2b018fedf9968b5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">FloatingBaseModel::_accelerationsUpToDate</a></div><div class="ttdeci">bool _accelerationsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00293">FloatingBaseModel.h:293</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac6a51b862d4729c831c92cbf256688ec"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">FloatingBaseModel::_crot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _crot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a522468c0af5ec3a25cdf208fab71cba8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">FloatingBaseModel::_gravity</a></div><div class="ttdeci">Vec3&lt; T &gt; _gravity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">FloatingBaseModel.h:239</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a48f26bd42e5548d3def24cf4c0226656"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a48f26bd42e5548d3def24cf4c0226656">FloatingBaseModel::_arot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _arot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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<p>Forward kinematics of all bodies. Computes _Xup (from up the tree) and _Xa (from absolute) Also computes _S (motion subspace), _v (spatial velocity in link coordinates), and _c (coriolis acceleration in link coordinates) </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">479</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00181">spatial::invertSXform()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00219">spatial::jointXform()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00073">spatial::motionCrossProduct()</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00261">spatial::spatialToLinearVelocity()</a>, and <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00329">spatial::sXFormPoint()</a>.</p>
<div class="fragment"><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;                                             {</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#ac22143726acef3ad98453cdf9cd533e6">_kinematicsUpToDate</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  <span class="comment">// calculate joint transformations</span></div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[5] = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(<a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.bodyOrientation),</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                         <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.bodyPosition);</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[5] = <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.bodyVelocity;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    <span class="comment">// joint xform</span></div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> XJ = <a class="code" href="../../de/d1a/namespacespatial.html#a6440807f3b1854b1708f49048331811a">jointXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a>[i], <a class="code" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a>[i], <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.q[i - 6]);</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] = XJ * <a class="code" href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">_Xtree</a>[i];</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] = jointMotionSubspace&lt;T&gt;(<a class="code" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a>[i], <a class="code" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a>[i]);</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> vJ = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.qd[i - 6];</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    <span class="comment">// total velocity of body i</span></div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + vJ;</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="comment">// Same for rotors</span></div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> XJrot = <a class="code" href="../../de/d1a/namespacespatial.html#a6440807f3b1854b1708f49048331811a">jointXform</a>(_jointTypes[i], <a class="code" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a>[i],</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;                               <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.q[i - 6] * <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>[i]);</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>[i];</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> vJrot = <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.qd[i - 6];</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] = XJrot * <a class="code" href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">_Xrot</a>[i];</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + vJrot;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <span class="comment">// Coriolis accelerations</span></div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>[i] = <a class="code" href="../../de/d1a/namespacespatial.html#a49f73699d3c57d07835e8ab61af3f34a">motionCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i], vJ);</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>[i] = <a class="code" href="../../de/d1a/namespacespatial.html#a49f73699d3c57d07835e8ab61af3f34a">motionCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i], vJrot);</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  }</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="comment">// calculate from absolute transformations</span></div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 5; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i] == 0) {</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i];  <span class="comment">// float base</span></div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]];</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    }</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  }</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="comment">// ground contact points</span></div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  <span class="comment">//  // TODO : we end up inverting the same Xa a few times (like for the 8</span></div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <span class="comment">//  points on the body). this isn&#39;t super efficient.</span></div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">_nGroundContact</a>; j++) {</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">_compute_contact_info</a>[j]) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    <span class="keywordtype">size_t</span> i = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.at(j);</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xai = <a class="code" href="../../de/d1a/namespacespatial.html#af37757ee8ad4510df5478202a62c9502">invertSXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i]);  <span class="comment">// from link to absolute</span></div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> vSpatial = Xai * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i];</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <span class="comment">// foot position in world</span></div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5566ab4692461d4240cec1fdbc2ab948">_pGC</a>.at(j) = <a class="code" href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">sXFormPoint</a>(Xai, <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.at(j));</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a74c3f88954fd3f8884d20a1fb436c8cc">_vGC</a>.at(j) = <a class="code" href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatialToLinearVelocity</a>(vSpatial, <a class="code" href="../../d6/db1/class_floating_base_model.html#a5566ab4692461d4240cec1fdbc2ab948">_pGC</a>.at(j));</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  }</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ac22143726acef3ad98453cdf9cd533e6">_kinematicsUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a647e76b4459b43335cf528795bab72d5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">FloatingBaseModel::_Xrot</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="namespacespatial_html_a95b2db654a989f56df5a8977a5be12d6"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatial::spatialToLinearVelocity</a></div><div class="ttdeci">auto spatialToLinearVelocity(const Eigen::MatrixBase&lt; T &gt; &amp;v, const Eigen::MatrixBase&lt; T2 &gt; &amp;x)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00261">spatial.h:261</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a3499630b53adb244528882597a670aaf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">FloatingBaseModel::_compute_contact_info</a></div><div class="ttdeci">vector&lt; bool &gt; _compute_contact_info</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00259">FloatingBaseModel.h:259</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8156e678f4dd1248a4db9ba4dcae0aee"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">FloatingBaseModel::_jointAxes</a></div><div class="ttdeci">vector&lt; CoordinateAxis &gt; _jointAxes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00245">FloatingBaseModel.h:245</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="namespacespatial_html_a6440807f3b1854b1708f49048331811a"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a6440807f3b1854b1708f49048331811a">spatial::jointXform</a></div><div class="ttdeci">Mat6&lt; T &gt; jointXform(JointType joint, CoordinateAxis axis, T q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00219">spatial.h:219</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8dfcb1b10e1a1ae83a9a23d9e7653e8b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">FloatingBaseModel::_c</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _c</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac22143726acef3ad98453cdf9cd533e6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac22143726acef3ad98453cdf9cd533e6">FloatingBaseModel::_kinematicsUpToDate</a></div><div class="ttdeci">bool _kinematicsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00291">FloatingBaseModel.h:291</a></div></div>
<div class="ttc" id="class_floating_base_model_html_afb96756832c10edf60bcb16a0a1589bd"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afb96756832c10edf60bcb16a0a1589bd">FloatingBaseModel::_Xtree</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xtree</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="namespacespatial_html_ab521121fc7af2392144a78003c100a10"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">spatial::sXFormPoint</a></div><div class="ttdeci">auto sXFormPoint(const Eigen::MatrixBase&lt; T &gt; &amp;X, const Eigen::MatrixBase&lt; T2 &gt; &amp;p)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00329">spatial.h:329</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a74c3f88954fd3f8884d20a1fb436c8cc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a74c3f88954fd3f8884d20a1fb436c8cc">FloatingBaseModel::_vGC</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _vGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00257">FloatingBaseModel.h:257</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adbe2cb8c9a4b37c7d06e0314233a886c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">FloatingBaseModel::_gearRatios</a></div><div class="ttdeci">vector&lt; T &gt; _gearRatios</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00241">FloatingBaseModel.h:241</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="namespacespatial_html_a49f73699d3c57d07835e8ab61af3f34a"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a49f73699d3c57d07835e8ab61af3f34a">spatial::motionCrossProduct</a></div><div class="ttdeci">auto motionCrossProduct(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00073">spatial.h:73</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aeb5d2add3777574bfa13999ce8d2c8c2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">FloatingBaseModel::_vrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _vrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a854099df21c6973b77d72c3a240e6d85"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a854099df21c6973b77d72c3a240e6d85">FloatingBaseModel::_nGroundContact</a></div><div class="ttdeci">size_t _nGroundContact</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00251">FloatingBaseModel.h:251</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac6a51b862d4729c831c92cbf256688ec"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">FloatingBaseModel::_crot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _crot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5566ab4692461d4240cec1fdbc2ab948"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5566ab4692461d4240cec1fdbc2ab948">FloatingBaseModel::_pGC</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _pGC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00256">FloatingBaseModel.h:256</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad764230d8d3100438f194afedd3d7a71"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">FloatingBaseModel::_state</a></div><div class="ttdeci">FBModelState&lt; T &gt; _state</div><div class="ttdoc">BEGIN ALGORITHM SUPPORT VARIABLES. </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00270">FloatingBaseModel.h:270</a></div></div>
<div class="ttc" id="namespacespatial_html_af37757ee8ad4510df5478202a62c9502"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#af37757ee8ad4510df5478202a62c9502">spatial::invertSXform</a></div><div class="ttdeci">auto invertSXform(const Eigen::MatrixBase&lt; T &gt; &amp;X)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00181">spatial.h:181</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae40d2d4174e196396dac5d4b008256e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">FloatingBaseModel::_jointTypes</a></div><div class="ttdeci">vector&lt; JointType &gt; _jointTypes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00244">FloatingBaseModel.h:244</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::generalizedCoriolisForce </td>
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<p>Computes the generalized coriolis forces (Cqd) in the inverse dynamics </p><dl class="section return"><dt>Returns</dt><dd>Cqd (_nDof x 1 vector) </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00636">636</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00091">spatial::forceCrossProduct()</a>.</p>
<div class="fragment"><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;                                                       {</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">biasAccelerations</a>();</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  <span class="comment">// Floating base force</span></div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Ifb = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[5].getMatrix();</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> hfb = Ifb * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[5];</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[5] = Ifb * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[5] + <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(_v[5], hfb);</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    <span class="comment">// Force on body i</span></div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Ii = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMatrix();</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> hi = Ii * _v[i];</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[i] = Ii * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">_avp</a>[i] + <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(_v[i], hi);</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    <span class="comment">// Force on rotor i</span></div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Ir = <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix();</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> hr = Ir * <a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i];</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a26d4a6a73adb7857a7479acb1d90402d">_fvprot</a>[i] = Ir * <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b57183e6f6e289b5d497aaa93f9e96a">_avprot</a>[i] + <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(_vrot[i], hr);</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  }</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = _nDof - 1; i &gt; 5; i--) {</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    <span class="comment">// Extract force along the joints</span></div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">_Cqd</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i].dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[i]) + <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i].dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a26d4a6a73adb7857a7479acb1d90402d">_fvprot</a>[i]);</div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    <span class="comment">// Propage force down the tree</span></div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] += <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[i];</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[_parents[i]] += <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a26d4a6a73adb7857a7479acb1d90402d">_fvprot</a>[i];</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  }</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  <span class="comment">// Force on floating base</span></div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">_Cqd</a>.template topRows&lt;6&gt;() = <a class="code" href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">_fvp</a>[5];</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">_Cqd</a>;</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="namespacespatial_html_a705e44e685fd39dbd6c1a9002ae9a344"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">spatial::forceCrossProduct</a></div><div class="ttdeci">auto forceCrossProduct(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00091">spatial.h:91</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8842415410af02605cbf2727fc8df1d1"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8842415410af02605cbf2727fc8df1d1">FloatingBaseModel::_fvp</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _fvp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abd6c4bde8153cace7d96761c7d6c56cc"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abd6c4bde8153cace7d96761c7d6c56cc">FloatingBaseModel::biasAccelerations</a></div><div class="ttdeci">void biasAccelerations()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00590">FloatingBaseModel.cpp:590</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_afab451f0da6dca05a85f55be4c02c3e2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">FloatingBaseModel::_Cqd</a></div><div class="ttdeci">DVec&lt; T &gt; _Cqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a26d4a6a73adb7857a7479acb1d90402d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a26d4a6a73adb7857a7479acb1d90402d">FloatingBaseModel::_fvprot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _fvprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5b57183e6f6e289b5d497aaa93f9e96a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5b57183e6f6e289b5d497aaa93f9e96a">FloatingBaseModel::_avprot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aeb5d2add3777574bfa13999ce8d2c8c2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">FloatingBaseModel::_vrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _vrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac3d2507821db79aa7ca15b69e728a372"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac3d2507821db79aa7ca15b69e728a372">FloatingBaseModel::_avp</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _avp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::generalizedGravityForce </td>
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<p>Computes the generalized gravitational force (G) in the inverse dynamics </p><dl class="section return"><dt>Returns</dt><dd>G (_nDof x 1 vector) </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00610">610</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;                                                      {</div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4ecf73ee1e17247d25f80b33c07da0fd">compositeInertias</a>();</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> aGravity;</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  aGravity &lt;&lt; 0, 0, 0, <a class="code" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a>[0], _gravity[1], _gravity[2];</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>[5] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[5] * aGravity;</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  <span class="comment">// Gravity comp force is the same as force required to accelerate</span></div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="comment">// oppostite gravity</span></div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">_G</a>.template topRows&lt;6&gt;() = -<a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[5].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>[5];</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]];</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aea67c7c94028be76909bdc272805df93">_agrot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>[_parents[i]];</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    <span class="comment">// body and rotor</span></div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">_G</a>[i] = -<a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i].dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">_ag</a>[i]) -</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;            <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i].dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aea67c7c94028be76909bdc272805df93">_agrot</a>[i]);</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  }</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">_G</a>;</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a7c6af1e7169a3076884f750b94d9d999"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a7c6af1e7169a3076884f750b94d9d999">FloatingBaseModel::_ag</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _ag</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a617042b4c0c0a0ec66e81a7f06641f61"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">FloatingBaseModel::_IC</a></div><div class="ttdeci">vectorAligned&lt; SpatialInertia&lt; T &gt; &gt; _IC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00279">FloatingBaseModel.h:279</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aabde468364e0ae042c562f5f360fd3b9"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">FloatingBaseModel::_G</a></div><div class="ttdeci">DVec&lt; T &gt; _G</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4ecf73ee1e17247d25f80b33c07da0fd"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4ecf73ee1e17247d25f80b33c07da0fd">FloatingBaseModel::compositeInertias</a></div><div class="ttdeci">void compositeInertias()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00753">FloatingBaseModel.cpp:753</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a522468c0af5ec3a25cdf208fab71cba8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">FloatingBaseModel::_gravity</a></div><div class="ttdeci">Vec3&lt; T &gt; _gravity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">FloatingBaseModel.h:239</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aea67c7c94028be76909bdc272805df93"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aea67c7c94028be76909bdc272805df93">FloatingBaseModel::_agrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _agrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getAngularAcceleration </td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00740">740</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;                                                                       {</div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">forwardAccelerationKinematics</a>();</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a>(link_idx);</div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;  <span class="keywordflow">return</span> Rai * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[link_idx].template head&lt;3&gt;();</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a72dd957e465044ebd8f007385bdf6b29"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">FloatingBaseModel::getOrientation</a></div><div class="ttdeci">Mat3&lt; T &gt; getOrientation(const int link_idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">FloatingBaseModel.cpp:671</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8d1ea8345adf3034553a1a7f6646bd5e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">FloatingBaseModel::forwardAccelerationKinematics</a></div><div class="ttdeci">void forwardAccelerationKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00813">FloatingBaseModel.cpp:813</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getAngularVelocity </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00731">731</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;                                                                   {</div><div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a>(link_idx);</div><div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  <span class="comment">// Vec3&lt;T&gt; v3 =</span></div><div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keywordflow">return</span> Rai * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[link_idx].template head&lt;3&gt;();</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  ;</div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a72dd957e465044ebd8f007385bdf6b29"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">FloatingBaseModel::getOrientation</a></div><div class="ttdeci">Mat3&lt; T &gt; getOrientation(const int link_idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">FloatingBaseModel.cpp:671</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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          <td class="memname">const std::vector&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt;, Eigen::aligned_allocator&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt; &gt; &gt;&amp; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getBodyInertiaVector </td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00158">158</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                         {</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
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          <td class="memname">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt;T&gt;&amp; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getCoriolisForce </td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00263">263</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">_Cqd</a>; }</div><div class="ttc" id="class_floating_base_model_html_afab451f0da6dca05a85f55be4c02c3e2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">FloatingBaseModel::_Cqd</a></div><div class="ttdeci">DVec&lt; T &gt; _Cqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00262">262</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">_G</a>; }</div><div class="ttc" id="class_floating_base_model_html_aabde468364e0ae042c562f5f360fd3b9"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">FloatingBaseModel::_G</a></div><div class="ttdeci">DVec&lt; T &gt; _G</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getLinearAcceleration </td>
          <td>(</td>
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          <td class="paramname"><em>link_idx</em>, </td>
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          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00698">698</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00289">spatial::spatialToLinearAcceleration()</a>.</p>
<div class="fragment"><div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;                                                                          {</div><div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">forwardAccelerationKinematics</a>();</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> R = <a class="code" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a>(link_idx);</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  <span class="keywordflow">return</span> R * <a class="code" href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatialToLinearAcceleration</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[link_idx], <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[link_idx], point);</div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a72dd957e465044ebd8f007385bdf6b29"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">FloatingBaseModel::getOrientation</a></div><div class="ttdeci">Mat3&lt; T &gt; getOrientation(const int link_idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">FloatingBaseModel.cpp:671</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="namespacespatial_html_a13df9ec1359ecd4150251eaae0895198"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a></div><div class="ttdeci">auto spatialToLinearAcceleration(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00289">spatial.h:289</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8d1ea8345adf3034553a1a7f6646bd5e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">FloatingBaseModel::forwardAccelerationKinematics</a></div><div class="ttdeci">void forwardAccelerationKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00813">FloatingBaseModel.cpp:813</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00706">706</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00289">spatial::spatialToLinearAcceleration()</a>.</p>
<div class="fragment"><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;                                                                      {</div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">forwardAccelerationKinematics</a>();</div><div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> R = <a class="code" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a>(link_idx);</div><div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  <span class="keywordflow">return</span> R * <a class="code" href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatialToLinearAcceleration</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[link_idx], <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[link_idx], <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>());</div><div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a72dd957e465044ebd8f007385bdf6b29"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">FloatingBaseModel::getOrientation</a></div><div class="ttdeci">Mat3&lt; T &gt; getOrientation(const int link_idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">FloatingBaseModel.cpp:671</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespacespatial_html_a13df9ec1359ecd4150251eaae0895198"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a></div><div class="ttdeci">auto spatialToLinearAcceleration(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00289">spatial.h:289</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8d1ea8345adf3034553a1a7f6646bd5e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">FloatingBaseModel::forwardAccelerationKinematics</a></div><div class="ttdeci">void forwardAccelerationKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00813">FloatingBaseModel.cpp:813</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getLinearVelocity </td>
          <td>(</td>
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          <td class="paramname"><em>link_idx</em>, </td>
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          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00714">714</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00261">spatial::spatialToLinearVelocity()</a>.</p>
<div class="fragment"><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;                                                                      {</div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a>(link_idx);</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  <span class="keywordflow">return</span> Rai * <a class="code" href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatialToLinearVelocity</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[link_idx], point);</div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a72dd957e465044ebd8f007385bdf6b29"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">FloatingBaseModel::getOrientation</a></div><div class="ttdeci">Mat3&lt; T &gt; getOrientation(const int link_idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">FloatingBaseModel.cpp:671</a></div></div>
<div class="ttc" id="namespacespatial_html_a95b2db654a989f56df5a8977a5be12d6"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatial::spatialToLinearVelocity</a></div><div class="ttdeci">auto spatialToLinearVelocity(const Eigen::MatrixBase&lt; T &gt; &amp;v, const Eigen::MatrixBase&lt; T2 &gt; &amp;x)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00261">spatial.h:261</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getLinearVelocity </td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00722">722</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00261">spatial::spatialToLinearVelocity()</a>.</p>
<div class="fragment"><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;                                                                  {</div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">getOrientation</a>(link_idx);</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  <span class="keywordflow">return</span> Rai * <a class="code" href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatialToLinearVelocity</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[link_idx], <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>());</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a72dd957e465044ebd8f007385bdf6b29"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a72dd957e465044ebd8f007385bdf6b29">FloatingBaseModel::getOrientation</a></div><div class="ttdeci">Mat3&lt; T &gt; getOrientation(const int link_idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">FloatingBaseModel.cpp:671</a></div></div>
<div class="ttc" id="namespacespatial_html_a95b2db654a989f56df5a8977a5be12d6"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a95b2db654a989f56df5a8977a5be12d6">spatial::spatialToLinearVelocity</a></div><div class="ttdeci">auto spatialToLinearVelocity(const Eigen::MatrixBase&lt; T &gt; &amp;v, const Eigen::MatrixBase&lt; T2 &gt; &amp;x)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00261">spatial.h:261</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00261">261</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>; }</div><div class="ttc" id="class_floating_base_model_html_a4465e35d979c34f4844a034fdeba7aef"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">FloatingBaseModel::_H</a></div><div class="ttdeci">DMat&lt; T &gt; _H</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">FloatingBaseModel.h:282</a></div></div>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00671">671</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;                                                         {</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[link_idx].template block&lt;3, 3&gt;(0, 0);</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  Rai.transposeInPlace();</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;  <span class="keywordflow">return</span> Rai;</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00154">154</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>; }</div><div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getPosition </td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00689">689</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00181">spatial::invertSXform()</a>, and <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00329">spatial::sXFormPoint()</a>.</p>
<div class="fragment"><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;{</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xai = <a class="code" href="../../de/d1a/namespacespatial.html#af37757ee8ad4510df5478202a62c9502">invertSXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[link_idx]); <span class="comment">// from link to absolute</span></div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> link_pos = <a class="code" href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">sXFormPoint</a>(Xai, local_pos);</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  <span class="keywordflow">return</span> link_pos;</div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespacespatial_html_ab521121fc7af2392144a78003c100a10"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">spatial::sXFormPoint</a></div><div class="ttdeci">auto sXFormPoint(const Eigen::MatrixBase&lt; T &gt; &amp;X, const Eigen::MatrixBase&lt; T2 &gt; &amp;p)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00329">spatial.h:329</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="namespacespatial_html_af37757ee8ad4510df5478202a62c9502"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#af37757ee8ad4510df5478202a62c9502">spatial::invertSXform</a></div><div class="ttdeci">auto invertSXform(const Eigen::MatrixBase&lt; T &gt; &amp;X)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00181">spatial.h:181</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getPosition </td>
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<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00680">680</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00181">spatial::invertSXform()</a>, and <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00329">spatial::sXFormPoint()</a>.</p>
<div class="fragment"><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;{</div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xai = <a class="code" href="../../de/d1a/namespacespatial.html#af37757ee8ad4510df5478202a62c9502">invertSXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[link_idx]); <span class="comment">// from link to absolute</span></div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> link_pos = <a class="code" href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">sXFormPoint</a>(Xai, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>());</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  <span class="keywordflow">return</span> link_pos;</div><div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespacespatial_html_ab521121fc7af2392144a78003c100a10"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ab521121fc7af2392144a78003c100a10">spatial::sXFormPoint</a></div><div class="ttdeci">auto sXFormPoint(const Eigen::MatrixBase&lt; T &gt; &amp;X, const Eigen::MatrixBase&lt; T2 &gt; &amp;p)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00329">spatial.h:329</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="namespacespatial_html_af37757ee8ad4510df5478202a62c9502"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#af37757ee8ad4510df5478202a62c9502">spatial::invertSXform</a></div><div class="ttdeci">auto invertSXform(const Eigen::MatrixBase&lt; T &gt; &amp;X)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00181">spatial.h:181</a></div></div>
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          <td class="memname">const std::vector&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt;, Eigen::aligned_allocator&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt; &gt; &gt;&amp; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::getRotorInertiaVector </td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00164">164</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                          {</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
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          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a>&lt; T &gt; &amp;&#160;</td>
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<p>Compute the inverse of the contact inertia matrix (mxm) </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">force_directions</td><td>(6xm) each column denotes a direction of interest col = [ moment in i.c.s., force in i.c.s.] e.g. if you want the cartesian inv. contact inertia force_directions = [ 0_{3x3} I_{3x3}]^T if you only want the cartesian inv. contact inertia in one direction then use the overloaded version. </td></tr>
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  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the mxm inverse contact inertia J H^{-1} J^T </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l01065">1065</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>.</p>
<div class="fragment"><div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;                                                          {</div><div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a>();</div><div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">updateForcePropagators</a>();</div><div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;</div><div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;  <span class="keywordtype">size_t</span> i_opsp = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.at(gc_index);</div><div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;  <span class="keywordtype">size_t</span> i = i_opsp;</div><div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;</div><div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;  <span class="comment">// Rotation to absolute coords</span></div><div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i].template block&lt;3, 3&gt;(0, 0).transpose();</div><div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xc = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(Rai, <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.at(gc_index));</div><div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;</div><div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;  <span class="comment">// D is a subslice of an extended force propagator matrix (See Wensing, 2012</span></div><div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;  <span class="comment">// ICRA)</span></div><div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat&lt;T&gt;</a> D = Xc.transpose() * force_directions;</div><div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;</div><div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;  <span class="keywordtype">size_t</span> m = force_directions.cols();</div><div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;</div><div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;T&gt;</a> LambdaInv = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;T&gt;::Zero</a>(m, m);</div><div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> tmp = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;::Zero</a>(m);</div><div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;</div><div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;  <span class="comment">// from tips to base</span></div><div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;  <span class="keywordflow">while</span> (i &gt; 5) {</div><div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;    tmp = D.transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i];</div><div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;    LambdaInv += tmp * tmp.transpose() / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;</div><div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;    <span class="comment">// Apply force propagator (see Pat&#39;s ICRA 2012 paper)</span></div><div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;    <span class="comment">// essentially, since the joint is articulated, only a portion of the force</span></div><div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;    <span class="comment">// is felt on the predecessor. So, while Xup^T sends a force backwards as if</span></div><div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;    <span class="comment">// the joint was locked, ChiUp^T sends the force backward as if the joint</span></div><div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;    <span class="comment">// were free</span></div><div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;    D = <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[i].transpose() * D;</div><div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;    i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;  }</div><div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;</div><div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;  <span class="comment">// TODO: Only carry out the QR once within update Aritculated Bodies</span></div><div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;  LambdaInv += D.transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a>.solve(D);</div><div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;</div><div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;  <span class="keywordflow">return</span> LambdaInv;</div><div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a409343ac03c6aebaffdb288c6c65f892"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">FloatingBaseModel::updateForcePropagators</a></div><div class="ttdeci">void updateForcePropagators()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00129">FloatingBaseModel.cpp:129</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0231caceb234a1eace8c03dda00431dd"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, Eigen::Dynamic &gt; D6Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00110">cppTypes.h:110</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aad1c033e1d94d42ee028accaf6a48b1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">FloatingBaseModel::updateArticulatedBodies</a></div><div class="ttdeci">void updateArticulatedBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">FloatingBaseModel.cpp:142</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
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<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">T <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::invContactInertia </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>gc_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>force_ics_at_contact</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Compute the inverse of the contact inertia matrix (mxm) </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">force_ics_at_contact</td><td>(3x1) e.g. if you want the cartesian inv. contact inertia in the z_ics force_ics_at_contact = [0 0 1]^T </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the 1x1 inverse contact inertia J H^{-1} J^T </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l01017">1017</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>.</p>
<div class="fragment"><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;                                                                               {</div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a>();</div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">updateForcePropagators</a>();</div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;</div><div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;  <span class="keywordtype">size_t</span> i_opsp = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">_gcParent</a>.at(gc_index);</div><div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;  <span class="keywordtype">size_t</span> i = i_opsp;</div><div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;</div><div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  <span class="comment">// Rotation to absolute coords</span></div><div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rai = <a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i].template block&lt;3, 3&gt;(0, 0).transpose();</div><div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Xc = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(Rai, <a class="code" href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">_gcLocation</a>.at(gc_index));</div><div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;</div><div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;  <span class="comment">// D is one column of an extended force propagator matrix (See Wensing, 2012</span></div><div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;  <span class="comment">// ICRA)</span></div><div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> F = Xc.transpose().template rightCols&lt;3&gt;() * force_ics_at_contact;</div><div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;</div><div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  <span class="keywordtype">double</span> LambdaInv = 0;</div><div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  <span class="keywordtype">double</span> tmp = 0;</div><div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;</div><div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;  <span class="comment">// from tips to base</span></div><div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;  <span class="keywordflow">while</span> (i &gt; 5) {</div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;    tmp = F.dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i]);</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;    LambdaInv += tmp * tmp / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;</div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;    <span class="comment">// Apply force propagator (see Pat&#39;s ICRA 2012 paper)</span></div><div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;    <span class="comment">// essentially, since the joint is articulated, only a portion of the force</span></div><div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;    <span class="comment">// is felt on the predecessor. So, while Xup^T sends a force backwards as if</span></div><div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;    <span class="comment">// the joint was locked, ChiUp^T sends the force backward as if the joint</span></div><div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;    <span class="comment">// were free</span></div><div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;    F = <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[i].transpose() * F;</div><div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;    i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;  }</div><div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;  LambdaInv += F.dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a>.solve(F));</div><div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;  <span class="keywordflow">return</span> LambdaInv;</div><div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a409343ac03c6aebaffdb288c6c65f892"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">FloatingBaseModel::updateForcePropagators</a></div><div class="ttdeci">void updateForcePropagators()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00129">FloatingBaseModel.cpp:129</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a761e8ba104250d59f2da1e2bb16b5819"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a761e8ba104250d59f2da1e2bb16b5819">FloatingBaseModel::_gcLocation</a></div><div class="ttdeci">vector&lt; Vec3&lt; T &gt; &gt; _gcLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">FloatingBaseModel.h:253</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae60ef8f6b942a637b571d3bd15b88535"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae60ef8f6b942a637b571d3bd15b88535">FloatingBaseModel::_gcParent</a></div><div class="ttdeci">vector&lt; size_t &gt; _gcParent</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">FloatingBaseModel.h:252</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aad1c033e1d94d42ee028accaf6a48b1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">FloatingBaseModel::updateArticulatedBodies</a></div><div class="ttdeci">void updateArticulatedBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">FloatingBaseModel.cpp:142</a></div></div>
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template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::inverseDynamics </td>
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          <td class="paramtype">const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>dState</em></td><td>)</td>
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<p>Computes the inverse dynamics of the system </p><dl class="section return"><dt>Returns</dt><dd>an _nDof x 1 vector. The first six entries give the external wrengh on the base, with the remaining giving the joint torques </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00845">845</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00091">spatial::forceCrossProduct()</a>.</p>
<div class="fragment"><div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;                                             {</div><div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a2d964c688ec772c624a55a7b185a3065">setDState</a>(dState);</div><div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">forwardAccelerationKinematics</a>();</div><div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;</div><div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  <span class="comment">// Spatial force for floating base</span></div><div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> hb = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[5].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[5];</div><div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[5] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[5].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[5] + <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[5], hb);</div><div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;</div><div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;  <span class="comment">// loop through joints</span></div><div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;    <span class="comment">// spatial momentum</span></div><div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> hi = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i];</div><div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> hr = <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i];</div><div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;</div><div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;    <span class="comment">// spatial force</span></div><div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[i] + <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i], hi);</div><div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a7a1e059d13bd65fdf8b0312503bd03f7">_frot</a>[i] =</div><div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;        <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a48f26bd42e5548d3def24cf4c0226656">_arot</a>[i] + <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i], hr);</div><div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;  }</div><div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;</div><div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> genForce(_nDof);</div><div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = _nDof - 1; i &gt; 5; i--) {</div><div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;    <span class="comment">// Pull off compoents of force along the joint</span></div><div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;    genForce[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i].dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[i]) + <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i].dot(<a class="code" href="../../d6/db1/class_floating_base_model.html#a7a1e059d13bd65fdf8b0312503bd03f7">_frot</a>[i]);</div><div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;</div><div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;    <span class="comment">// Propagate down the tree</span></div><div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] += <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[i];</div><div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[_parents[i]] += <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a7a1e059d13bd65fdf8b0312503bd03f7">_frot</a>[i];</div><div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;  }</div><div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;  genForce.template head&lt;6&gt;() = <a class="code" href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">_f</a>[5];</div><div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;  <span class="keywordflow">return</span> genForce;</div><div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a2d964c688ec772c624a55a7b185a3065"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2d964c688ec772c624a55a7b185a3065">FloatingBaseModel::setDState</a></div><div class="ttdeci">void setDState(const FBModelStateDerivative&lt; T &gt; &amp;dState)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00207">FloatingBaseModel.h:207</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="namespacespatial_html_a705e44e685fd39dbd6c1a9002ae9a344"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">spatial::forceCrossProduct</a></div><div class="ttdeci">auto forceCrossProduct(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00091">spatial.h:91</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5b2494f3b63d53369accdf3b2870bcbb"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5b2494f3b63d53369accdf3b2870bcbb">FloatingBaseModel::_f</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _f</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8d1ea8345adf3034553a1a7f6646bd5e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8d1ea8345adf3034553a1a7f6646bd5e">FloatingBaseModel::forwardAccelerationKinematics</a></div><div class="ttdeci">void forwardAccelerationKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00813">FloatingBaseModel.cpp:813</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aeb5d2add3777574bfa13999ce8d2c8c2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">FloatingBaseModel::_vrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _vrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a7a1e059d13bd65fdf8b0312503bd03f7"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a7a1e059d13bd65fdf8b0312503bd03f7">FloatingBaseModel::_frot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _frot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a48f26bd42e5548d3def24cf4c0226656"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a48f26bd42e5548d3def24cf4c0226656">FloatingBaseModel::_arot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _arot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt; T &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::massMatrix </td>
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<p>Computes the Mass Matrix (H) in the inverse dynamics formulation </p><dl class="section return"><dt>Returns</dt><dd>H (_nDof x _nDof matrix) </dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00778">778</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">f()</a>.</p>
<div class="fragment"><div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;                                         {</div><div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4ecf73ee1e17247d25f80b33c07da0fd">compositeInertias</a>();</div><div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>.setZero();</div><div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;</div><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  <span class="comment">// Top left corner is the locked inertia of the whole system</span></div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>.template topLeftCorner&lt;6, 6&gt;() = <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[5].getMatrix();</div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;</div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 6; j &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; j++) {</div><div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    <span class="comment">// f = spatial force required for a unit qdd_j</span></div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> <a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a> = <a class="code" href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">_IC</a>[j].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[j];</div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> frot = <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[j].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[j];</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;</div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>(j, j) = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[j].dot(f) + <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[j].dot(frot);</div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    <span class="comment">// Propagate down the tree</span></div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    f = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[j].transpose() * f + <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[j].transpose() * frot;</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    <span class="keywordtype">size_t</span> i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[j];</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;    <span class="keywordflow">while</span> (i &gt; 5) {</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="comment">// in here f is expressed in frame {i}</span></div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>(i, j) = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i].dot(f);</div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>(j, i) = <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>(i, j);</div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      <span class="comment">// Propagate down the tree</span></div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      f = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * <a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>;</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      i = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    }</div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;    <span class="comment">// Force on floating base</span></div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>.template block&lt;6, 1&gt;(0, j) = f;</div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>.template block&lt;1, 6&gt;(j, 0) = f.adjoint();</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;  }</div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>;</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a617042b4c0c0a0ec66e81a7f06641f61"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a617042b4c0c0a0ec66e81a7f06641f61">FloatingBaseModel::_IC</a></div><div class="ttdeci">vectorAligned&lt; SpatialInertia&lt; T &gt; &gt; _IC</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00279">FloatingBaseModel.h:279</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4ecf73ee1e17247d25f80b33c07da0fd"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4ecf73ee1e17247d25f80b33c07da0fd">FloatingBaseModel::compositeInertias</a></div><div class="ttdeci">void compositeInertias()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00753">FloatingBaseModel.cpp:753</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4465e35d979c34f4844a034fdeba7aef"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">FloatingBaseModel::_H</a></div><div class="ttdeci">DMat&lt; T &gt; _H</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">FloatingBaseModel.h:282</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="test__casadi_8cpp_html_ae20d7fba59865a21504b65cdb44cbfe5"><div class="ttname"><a href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a></div><div class="ttdeci">MX f(const MX &amp;x, const MX &amp;u)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">test_casadi.cpp:202</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00199">199</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                               {</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a9acc3791569e19776290d59516b2858b">_articulatedBodiesUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ac22143726acef3ad98453cdf9cd533e6">_kinematicsUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#af44a91be750979388eafe405c6d94e47">_forcePropagatorsUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#abb844f5f64c6ec31daa799d7571b0b06">_qddEffectsUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">_accelerationsUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_ac22143726acef3ad98453cdf9cd533e6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac22143726acef3ad98453cdf9cd533e6">FloatingBaseModel::_kinematicsUpToDate</a></div><div class="ttdeci">bool _kinematicsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00291">FloatingBaseModel.h:291</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a767d6f7ab657716cb2b018fedf9968b5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">FloatingBaseModel::_accelerationsUpToDate</a></div><div class="ttdeci">bool _accelerationsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00293">FloatingBaseModel.h:293</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abb844f5f64c6ec31daa799d7571b0b06"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abb844f5f64c6ec31daa799d7571b0b06">FloatingBaseModel::_qddEffectsUpToDate</a></div><div class="ttdeci">bool _qddEffectsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00309">FloatingBaseModel.h:309</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9acc3791569e19776290d59516b2858b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9acc3791569e19776290d59516b2858b">FloatingBaseModel::_articulatedBodiesUpToDate</a></div><div class="ttdeci">bool _articulatedBodiesUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00307">FloatingBaseModel.h:307</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af44a91be750979388eafe405c6d94e47"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af44a91be750979388eafe405c6d94e47">FloatingBaseModel::_forcePropagatorsUpToDate</a></div><div class="ttdeci">bool _forcePropagatorsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00308">FloatingBaseModel.h:308</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00301">301</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                             {</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">_externalForces</a>[i] = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    }</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_a0175a880c72199694853ace01217b829"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">FloatingBaseModel::_externalForces</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _externalForces</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00277">FloatingBaseModel.h:277</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
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<div class="memtemplate">
template&lt;typename T &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::resizeSystemMatricies </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<p>Updates the size of H, C, Cqd, G, and Js when bodies are added </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00242">242</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                                                 {</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">_H</a>.setZero(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a206697ade7b0a1e9979c464fede531d7">_C</a>.setZero(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">_Cqd</a>.setZero(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">_G</a>.setZero(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#aaa1aab12e64d31f3c6894d8308cc2fe2">_J</a>.size(); i++) {</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aaa1aab12e64d31f3c6894d8308cc2fe2">_J</a>[i].setZero(6, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae83e5fdbf8d7b58225d67277cef008ea">_Jdqd</a>[i].setZero();</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  }</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">_Jc</a>.size(); i++) {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">_Jc</a>[i].setZero(3, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">_Jcdqd</a>[i].setZero();</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">_qdd_from_subqdd</a>.resize(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6, <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">_qdd_from_base_accel</a>.resize(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6, 6);</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.q = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;::Zero</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6);</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.qd = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;::Zero</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a> - 6);</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a267a9a00ef07004c3c9adf8e889f7b13"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a267a9a00ef07004c3c9adf8e889f7b13">FloatingBaseModel::_Jcdqd</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _Jcdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00289">FloatingBaseModel.h:289</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aabde468364e0ae042c562f5f360fd3b9"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aabde468364e0ae042c562f5f360fd3b9">FloatingBaseModel::_G</a></div><div class="ttdeci">DVec&lt; T &gt; _G</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af2a69730c5168e05833b36dd74720e09"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">FloatingBaseModel::_qdd_from_subqdd</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_subqdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00312">FloatingBaseModel.h:312</a></div></div>
<div class="ttc" id="class_floating_base_model_html_afab451f0da6dca05a85f55be4c02c3e2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#afab451f0da6dca05a85f55be4c02c3e2">FloatingBaseModel::_Cqd</a></div><div class="ttdeci">DVec&lt; T &gt; _Cqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">FloatingBaseModel.h:283</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a206697ade7b0a1e9979c464fede531d7"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a206697ade7b0a1e9979c464fede531d7">FloatingBaseModel::_C</a></div><div class="ttdeci">DMat&lt; T &gt; _C</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">FloatingBaseModel.h:282</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4465e35d979c34f4844a034fdeba7aef"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4465e35d979c34f4844a034fdeba7aef">FloatingBaseModel::_H</a></div><div class="ttdeci">DMat&lt; T &gt; _H</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">FloatingBaseModel.h:282</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aaa1aab12e64d31f3c6894d8308cc2fe2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aaa1aab12e64d31f3c6894d8308cc2fe2">FloatingBaseModel::_J</a></div><div class="ttdeci">vectorAligned&lt; D6Mat&lt; T &gt; &gt; _J</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00285">FloatingBaseModel.h:285</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae83e5fdbf8d7b58225d67277cef008ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae83e5fdbf8d7b58225d67277cef008ea">FloatingBaseModel::_Jdqd</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Jdqd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00286">FloatingBaseModel.h:286</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a202ffc31ffb2be152fbd3e7ae88e6aa6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a202ffc31ffb2be152fbd3e7ae88e6aa6">FloatingBaseModel::_Jc</a></div><div class="ttdeci">vectorAligned&lt; D3Mat&lt; T &gt; &gt; _Jc</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00288">FloatingBaseModel.h:288</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad764230d8d3100438f194afedd3d7a71"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">FloatingBaseModel::_state</a></div><div class="ttdeci">FBModelState&lt; T &gt; _state</div><div class="ttdoc">BEGIN ALGORITHM SUPPORT VARIABLES. </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00270">FloatingBaseModel.h:270</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5a61e12fea447a5c9aaceb7125439552"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">FloatingBaseModel::_qdd_from_base_accel</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_base_accel</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00311">FloatingBaseModel.h:311</a></div></div>
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<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::runABA </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>tau</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>dstate</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00880">880</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00140">spatial::createSXform()</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00059">FBModelStateDerivative&lt; T &gt;::dBodyPosition</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FBModelStateDerivative&lt; T &gt;::dBodyVelocity</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00091">spatial::forceCrossProduct()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00073">spatial::motionCrossProduct()</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00061">FBModelStateDerivative&lt; T &gt;::qdd</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00157">spatial::rotationFromSXform()</a>, and <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00168">spatial::translationFromSXform()</a>.</p>
<div class="fragment"><div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;                                                                     {</div><div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;  (void)tau;</div><div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a>();</div><div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;</div><div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;  <span class="comment">// create spatial vector for gravity</span></div><div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> aGravity;</div><div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;  aGravity &lt;&lt; 0, 0, 0, <a class="code" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a>[0], _gravity[1], _gravity[2];</div><div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;</div><div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;  <span class="comment">// float-base articulated inertia</span></div><div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> ivProduct = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[5].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[5];</div><div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a944db3928c026e9c5a55a3f636eec25b">_pA</a>[5] = <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[5], ivProduct);</div><div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;</div><div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;  <span class="comment">// loop 1, down the tree</span></div><div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;    ivProduct = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i];</div><div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a944db3928c026e9c5a55a3f636eec25b">_pA</a>[i] = <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[i], ivProduct);</div><div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;</div><div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;    <span class="comment">// same for rotors</span></div><div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> vJrot = <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.qd[i - 6];</div><div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">_v</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + vJrot;</div><div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>[i] = <a class="code" href="../../de/d1a/namespacespatial.html#a49f73699d3c57d07835e8ab61af3f34a">motionCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i], vJrot);</div><div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;    ivProduct = <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i];</div><div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a04a35058c5642a78b086a964a6c3338d">_pArot</a>[i] = <a class="code" href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">forceCrossProduct</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">_vrot</a>[i], ivProduct);</div><div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;  }</div><div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;</div><div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;  <span class="comment">// adjust pA for external forces</span></div><div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 5; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;    <span class="comment">// TODO add if statement (avoid these calculations if the force is zero)</span></div><div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> R = <a class="code" href="../../de/d1a/namespacespatial.html#abdc3cd991206414d80d9f89be27e3633">rotationFromSXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i]);</div><div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> p = <a class="code" href="../../de/d1a/namespacespatial.html#aba5e712bd3844d2e6a57dcb071f3f0a5">translationFromSXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">_Xa</a>[i]);</div><div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> iX = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(R.transpose(), -R * p);</div><div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a944db3928c026e9c5a55a3f636eec25b">_pA</a>[i] = _pA[i] - iX.transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">_externalForces</a>.at(i);</div><div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;  }</div><div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;</div><div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;  <span class="comment">// Pat&#39;s magic principle of least constraint</span></div><div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = _nDof - 1; i &gt;= 6; i--) {</div><div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">_u</a>[i] = tau[i - 6] - <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i].transpose() * _pA[i] -</div><div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;            <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a04a35058c5642a78b086a964a6c3338d">_pArot</a>[i] - <a class="code" href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">_U</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>[i] -</div><div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;            <a class="code" href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">_Urot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>[i];</div><div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;</div><div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;    <span class="comment">// articulated inertia recursion</span></div><div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> pa =</div><div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;        <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * (_pA[i] + <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>[i]) +</div><div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;        <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i].transpose() * (<a class="code" href="../../d6/db1/class_floating_base_model.html#a04a35058c5642a78b086a964a6c3338d">_pArot</a>[i] + <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">_crot</a>[i]) +</div><div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;        <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">_u</a>[i] / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;    _pA[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] += pa;</div><div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;  }</div><div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;</div><div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;  <span class="comment">// include gravity and compute acceleration of floating base</span></div><div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> a0 = -aGravity;</div><div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> ub = -_pA[5];</div><div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[5] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[5] * a0;</div><div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> afb = <a class="code" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a>.solve(ub - <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[5].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[5]);</div><div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[5] += afb;</div><div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;</div><div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  <span class="comment">// joint accelerations</span></div><div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;  dstate.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a>(_nDof - 6);</div><div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;    dstate.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a>[i - 6] =</div><div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;        (<a class="code" href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">_u</a>[i] - <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]]) / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">_a</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] + <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] * dstate.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">qdd</a>[i - 6] + <a class="code" href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">_c</a>[i];</div><div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;  }</div><div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;</div><div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;  <span class="comment">// output</span></div><div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;T&gt;</a> Rup = <a class="code" href="../../de/d1a/namespacespatial.html#abdc3cd991206414d80d9f89be27e3633">rotationFromSXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[5]);</div><div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;  dstate.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">dBodyPosition</a> =</div><div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;      Rup.transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.bodyVelocity.template block&lt;3, 1&gt;(3, 0);</div><div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;  dstate.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a> = afb;</div><div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  <span class="comment">// qdd is set in the for loop above</span></div><div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a1f78cc373aa9e94a05dd0a3d031f44a3"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a1f78cc373aa9e94a05dd0a3d031f44a3">FloatingBaseModel::_Xa</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xa</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="namespacespatial_html_a705e44e685fd39dbd6c1a9002ae9a344"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a705e44e685fd39dbd6c1a9002ae9a344">spatial::forceCrossProduct</a></div><div class="ttdeci">auto forceCrossProduct(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00091">spatial.h:91</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a825cfc02adde2c48b0d508a3bf77e896"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">FBModelStateDerivative::dBodyPosition</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec3&lt; T &gt; dBodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00059">FloatingBaseModel.h:59</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8dfcb1b10e1a1ae83a9a23d9e7653e8b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8dfcb1b10e1a1ae83a9a23d9e7653e8b">FloatingBaseModel::_c</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _c</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0175a880c72199694853ace01217b829"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0175a880c72199694853ace01217b829">FloatingBaseModel::_externalForces</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _externalForces</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00277">FloatingBaseModel.h:277</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a8b7b6d70f1b1268f02e1b291dad26c5d"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">FBModelStateDerivative::dBodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; dBodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FloatingBaseModel.h:60</a></div></div>
<div class="ttc" id="namespacespatial_html_aba5e712bd3844d2e6a57dcb071f3f0a5"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#aba5e712bd3844d2e6a57dcb071f3f0a5">spatial::translationFromSXform</a></div><div class="ttdeci">auto translationFromSXform(const Eigen::MatrixBase&lt; T &gt; &amp;X)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00168">spatial.h:168</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae82236029c85cde87f2af7126cbede1d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">FloatingBaseModel::_Utot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Utot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad74b9348986bbe1a7532dea643acd94c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad74b9348986bbe1a7532dea643acd94c">FloatingBaseModel::_a</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="namespacespatial_html_a49f73699d3c57d07835e8ab61af3f34a"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a49f73699d3c57d07835e8ab61af3f34a">spatial::motionCrossProduct</a></div><div class="ttdeci">auto motionCrossProduct(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00073">spatial.h:73</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aeb5d2add3777574bfa13999ce8d2c8c2"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aeb5d2add3777574bfa13999ce8d2c8c2">FloatingBaseModel::_vrot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _vrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ac6a51b862d4729c831c92cbf256688ec"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ac6a51b862d4729c831c92cbf256688ec">FloatingBaseModel::_crot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _crot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aad1c033e1d94d42ee028accaf6a48b1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">FloatingBaseModel::updateArticulatedBodies</a></div><div class="ttdeci">void updateArticulatedBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">FloatingBaseModel.cpp:142</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a01fa67b8a64827ca6d72e79734528bdf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">FloatingBaseModel::_Urot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Urot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a522468c0af5ec3a25cdf208fab71cba8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">FloatingBaseModel::_gravity</a></div><div class="ttdeci">Vec3&lt; T &gt; _gravity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">FloatingBaseModel.h:239</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_af32a2041b72e6b30ed1c8a027d340fd2"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#af32a2041b72e6b30ed1c8a027d340fd2">FBModelStateDerivative::qdd</a></div><div class="ttdeci">DVec&lt; T &gt; qdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00061">FloatingBaseModel.h:61</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aa07cb7cfe417d83f34ec01ce53be17c5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">FloatingBaseModel::_U</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _U</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a944db3928c026e9c5a55a3f636eec25b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a944db3928c026e9c5a55a3f636eec25b">FloatingBaseModel::_pA</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _pA</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad8f8cb301ed7f7f0ef28f008ed0d5549"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad8f8cb301ed7f7f0ef28f008ed0d5549">FloatingBaseModel::_u</a></div><div class="ttdeci">vector&lt; T &gt; _u</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aed75622b011966ef7528c3b401db1e8e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aed75622b011966ef7528c3b401db1e8e">FloatingBaseModel::_v</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a04a35058c5642a78b086a964a6c3338d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a04a35058c5642a78b086a964a6c3338d">FloatingBaseModel::_pArot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _pArot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad764230d8d3100438f194afedd3d7a71"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">FloatingBaseModel::_state</a></div><div class="ttdeci">FBModelState&lt; T &gt; _state</div><div class="ttdoc">BEGIN ALGORITHM SUPPORT VARIABLES. </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00270">FloatingBaseModel.h:270</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00173">173</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                                                         {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">_compute_contact_info</a>[gc_index] = flag;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_a3499630b53adb244528882597a670aaf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3499630b53adb244528882597a670aaf">FloatingBaseModel::_compute_contact_info</a></div><div class="ttdeci">vector&lt; bool &gt; _compute_contact_info</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00259">FloatingBaseModel.h:259</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00207">207</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                                                          {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">_dState</a> = dState;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">_accelerationsUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_a712a346b405bb6093eb0fa13c8360f05"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a712a346b405bb6093eb0fa13c8360f05">FloatingBaseModel::_dState</a></div><div class="ttdeci">FBModelStateDerivative&lt; T &gt; _dState</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00271">FloatingBaseModel.h:271</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a767d6f7ab657716cb2b018fedf9968b5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a767d6f7ab657716cb2b018fedf9968b5">FloatingBaseModel::_accelerationsUpToDate</a></div><div class="ttdeci">bool _accelerationsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00293">FloatingBaseModel.h:293</a></div></div>
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<p>Set the gravity </p>

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">171</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;{ <a class="code" href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">_gravity</a> = g; }</div><div class="ttc" id="class_floating_base_model_html_a522468c0af5ec3a25cdf208fab71cba8"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a522468c0af5ec3a25cdf208fab71cba8">FloatingBaseModel::_gravity</a></div><div class="ttdeci">Vec3&lt; T &gt; _gravity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">FloatingBaseModel.h:239</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00191">191</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                                              {</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a> = state;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aea7be798b3aa112fd7326538e60226a7">_biasAccelerationsUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a10e4020ed36da2a321dea9214f8f7b8f">_compositeInertiasUpToDate</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ad9cdd4fa0510e9724d94a4e876e9fcd8">resetCalculationFlags</a>();</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div><div class="ttc" id="class_floating_base_model_html_a10e4020ed36da2a321dea9214f8f7b8f"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a10e4020ed36da2a321dea9214f8f7b8f">FloatingBaseModel::_compositeInertiasUpToDate</a></div><div class="ttdeci">bool _compositeInertiasUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00295">FloatingBaseModel.h:295</a></div></div>
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<p>Total mass of all bodies which are not rotors</p>
<p>Compute the total mass of bodies which are not rotors. </p><dl class="section return"><dt>Returns</dt><dd></dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00452">452</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                                          {</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  T totalMass = 0;</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    totalMass += <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMass();</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  }</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">return</span> totalMass;</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
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<p>Total mass of all rotors</p>
<p>Compute the total mass of bodies which are not rotors </p><dl class="section return"><dt>Returns</dt><dd></dd></dl>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00465">465</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                                       {</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  T totalMass = 0;</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    totalMass += <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMass();</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  }</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="keywordflow">return</span> totalMass;</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::udpateQddEffects </td>
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<p>Support function for contact inertia algorithms Computes the qdd arising from "subqdd" components If you are familiar with Featherstone's sparse Op sp or jain's innovations factorization: H = L * D * L^T These subqdd components represnt the space in the middle i.e. if H^{-1} = L^{-T} * D^{-1} * L^{1} then what I am calling subqdd = L^{-1} * tau This is an awful explanation. It needs latex. </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00098">98</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                            {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#abb844f5f64c6ec31daa799d7571b0b06">_qddEffectsUpToDate</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">updateForcePropagators</a>();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">_qdd_from_base_accel</a>.setZero();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">_qdd_from_subqdd</a>.setZero();</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">// Pass for force props</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// This loop is semi-equivalent to a cholesky factorization on H</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">// akin to Featherstone&#39;s sparse operational space algo</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// These computations are for treating the joint rates like a task space</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">// To do so, F computes the dynamic effect of torues onto bodies down the tree</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">_qdd_from_subqdd</a>(i - 6, i - 6) = 1;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;T&gt;</a> F = (<a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[i].transpose() - <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose()) * <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i];</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">size_t</span> j = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i];</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">while</span> (j &gt; 5) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">_qdd_from_subqdd</a>(i - 6, j - 6) = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[j].dot(F);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      F = <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[j].transpose() * F;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      j = <a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[j];</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">_qdd_from_base_accel</a>.row(i - 6) = F.transpose();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  }</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#abb844f5f64c6ec31daa799d7571b0b06">_qddEffectsUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a409343ac03c6aebaffdb288c6c65f892"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a409343ac03c6aebaffdb288c6c65f892">FloatingBaseModel::updateForcePropagators</a></div><div class="ttdeci">void updateForcePropagators()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00129">FloatingBaseModel.cpp:129</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af2a69730c5168e05833b36dd74720e09"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af2a69730c5168e05833b36dd74720e09">FloatingBaseModel::_qdd_from_subqdd</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_subqdd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00312">FloatingBaseModel.h:312</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_abb844f5f64c6ec31daa799d7571b0b06"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#abb844f5f64c6ec31daa799d7571b0b06">FloatingBaseModel::_qddEffectsUpToDate</a></div><div class="ttdeci">bool _qddEffectsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00309">FloatingBaseModel.h:309</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a5a61e12fea447a5c9aaceb7125439552"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a5a61e12fea447a5c9aaceb7125439552">FloatingBaseModel::_qdd_from_base_accel</a></div><div class="ttdeci">DMat&lt; T &gt; _qdd_from_base_accel</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00311">FloatingBaseModel.h:311</a></div></div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::updateArticulatedBodies </td>
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<p>Support function for the ABA </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">142</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>

<p>References <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00219">spatial::jointXform()</a>.</p>
<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                                   {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#a9acc3791569e19776290d59516b2858b">_articulatedBodiesUpToDate</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">forwardKinematics</a>();</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[5] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[5].getMatrix();</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="comment">// loop 1, down the tree</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">_Ibody</a>[i].getMatrix();  <span class="comment">// initialize</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> XJrot = <a class="code" href="../../de/d1a/namespacespatial.html#a6440807f3b1854b1708f49048331811a">jointXform</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">_jointTypes</a>[i], <a class="code" href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">_jointAxes</a>[i],</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                               <a class="code" href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">_state</a>.q[i - 6] * <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>[i]);</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] = XJrot * <a class="code" href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">_Xrot</a>[i];</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">_gearRatios</a>[i];</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">// Pat&#39;s magic principle of least constraint (Guass too!)</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = _nDof - 1; i &gt;= 6; i--) {</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">_U</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i];</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">_Urot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i];</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">_U</a>[i] + <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">_Urot</a>[i];</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">_Srot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">_Urot</a>[i];</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i] += _S[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">_U</a>[i];</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="comment">// articulated inertia recursion</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> Ia = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] +</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                 <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i].transpose() * <a class="code" href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">_Irot</a>[i].getMatrix() * <a class="code" href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">_Xuprot</a>[i] -</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                 <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>[i].transpose() / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[<a class="code" href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">_parents</a>[i]] += Ia;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">_invIA5</a>.compute(<a class="code" href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">_IA</a>[5]);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#a9acc3791569e19776290d59516b2858b">_articulatedBodiesUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_a647e76b4459b43335cf528795bab72d5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a647e76b4459b43335cf528795bab72d5">FloatingBaseModel::_Xrot</a></div><div class="ttdeci">vector&lt; Mat6&lt; T &gt;, Eigen::aligned_allocator&lt; Mat6&lt; T &gt; &gt; &gt; _Xrot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">FloatingBaseModel.h:246</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a84bb2ed6a281d63cbac42711a6ed8811"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a84bb2ed6a281d63cbac42711a6ed8811">FloatingBaseModel::_Ibody</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Ibody</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a8156e678f4dd1248a4db9ba4dcae0aee"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a8156e678f4dd1248a4db9ba4dcae0aee">FloatingBaseModel::_jointAxes</a></div><div class="ttdeci">vector&lt; CoordinateAxis &gt; _jointAxes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00245">FloatingBaseModel.h:245</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a41ed06adf55fcf19f3c21164d5fa35af"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a41ed06adf55fcf19f3c21164d5fa35af">FloatingBaseModel::_invIA5</a></div><div class="ttdeci">Eigen::ColPivHouseholderQR&lt; Mat6&lt; T &gt; &gt; _invIA5</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">FloatingBaseModel.h:313</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="namespacespatial_html_a6440807f3b1854b1708f49048331811a"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a6440807f3b1854b1708f49048331811a">spatial::jointXform</a></div><div class="ttdeci">Mat6&lt; T &gt; jointXform(JointType joint, CoordinateAxis axis, T q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00219">spatial.h:219</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9ccd6e6ef64691285c21c46f476cf606"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9ccd6e6ef64691285c21c46f476cf606">FloatingBaseModel::_parents</a></div><div class="ttdeci">vector&lt; int &gt; _parents</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">FloatingBaseModel.h:240</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae82236029c85cde87f2af7126cbede1d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">FloatingBaseModel::_Utot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Utot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adbe2cb8c9a4b37c7d06e0314233a886c"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adbe2cb8c9a4b37c7d06e0314233a886c">FloatingBaseModel::_gearRatios</a></div><div class="ttdeci">vector&lt; T &gt; _gearRatios</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00241">FloatingBaseModel.h:241</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a98a85ca5e91013f487300e57e1d7dbaa"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a98a85ca5e91013f487300e57e1d7dbaa">FloatingBaseModel::_Srot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Srot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae7a4f236f629b8cc582c33cdc8a02707"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae7a4f236f629b8cc582c33cdc8a02707">FloatingBaseModel::_Xuprot</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xuprot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a4c4c27d3bc26c3ad1a3306d16b57f085"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a4c4c27d3bc26c3ad1a3306d16b57f085">FloatingBaseModel::forwardKinematics</a></div><div class="ttdeci">void forwardKinematics()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00479">FloatingBaseModel.cpp:479</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a01fa67b8a64827ca6d72e79734528bdf"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a01fa67b8a64827ca6d72e79734528bdf">FloatingBaseModel::_Urot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Urot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a2083e5e8a0bf82f8892a2ed0e12e71ed"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a2083e5e8a0bf82f8892a2ed0e12e71ed">FloatingBaseModel::_Irot</a></div><div class="ttdeci">vector&lt; SpatialInertia&lt; T &gt;, Eigen::aligned_allocator&lt; SpatialInertia&lt; T &gt; &gt; &gt; _Irot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">FloatingBaseModel.h:247</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a9acc3791569e19776290d59516b2858b"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a9acc3791569e19776290d59516b2858b">FloatingBaseModel::_articulatedBodiesUpToDate</a></div><div class="ttdeci">bool _articulatedBodiesUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00307">FloatingBaseModel.h:307</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aa07cb7cfe417d83f34ec01ce53be17c5"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aa07cb7cfe417d83f34ec01ce53be17c5">FloatingBaseModel::_U</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _U</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ad764230d8d3100438f194afedd3d7a71"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ad764230d8d3100438f194afedd3d7a71">FloatingBaseModel::_state</a></div><div class="ttdeci">FBModelState&lt; T &gt; _state</div><div class="ttdoc">BEGIN ALGORITHM SUPPORT VARIABLES. </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00270">FloatingBaseModel.h:270</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af6dd90638211526cb3ad96efe0327e0e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af6dd90638211526cb3ad96efe0327e0e">FloatingBaseModel::_IA</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _IA</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae40d2d4174e196396dac5d4b008256e0"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae40d2d4174e196396dac5d4b008256e0">FloatingBaseModel::_jointTypes</a></div><div class="ttdeci">vector&lt; JointType &gt; _jointTypes</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00244">FloatingBaseModel.h:244</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname">void <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::updateForcePropagators </td>
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<p>Support function for contact inertia algorithms Comptues force propagators across each joint </p>

<p>Definition at line <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html#l00129">129</a> of file <a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                                                  {</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d6/db1/class_floating_base_model.html#af44a91be750979388eafe405c6d94e47">_forcePropagatorsUpToDate</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">updateArticulatedBodies</a>();</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 6; i &lt; <a class="code" href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">_nDof</a>; i++) {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <a class="code" href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">_ChiUp</a>[i] = <a class="code" href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">_Xup</a>[i] - <a class="code" href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">_S</a>[i] * <a class="code" href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">_Utot</a>[i].transpose() / <a class="code" href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">_d</a>[i];</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html#af44a91be750979388eafe405c6d94e47">_forcePropagatorsUpToDate</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div><div class="ttc" id="class_floating_base_model_html_ab7fd02229fa714b1e6f29996a1c2f286"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab7fd02229fa714b1e6f29996a1c2f286">FloatingBaseModel::_d</a></div><div class="ttdeci">vector&lt; T &gt; _d</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">FloatingBaseModel.h:242</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a677a0d5e949c2a9fd9445e760783d99a"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a677a0d5e949c2a9fd9445e760783d99a">FloatingBaseModel::_ChiUp</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _ChiUp</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ae82236029c85cde87f2af7126cbede1d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ae82236029c85cde87f2af7126cbede1d">FloatingBaseModel::_Utot</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _Utot</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">FloatingBaseModel.h:276</a></div></div>
<div class="ttc" id="class_floating_base_model_html_affbba940c0eeb6b9ea6412ac35e594a6"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#affbba940c0eeb6b9ea6412ac35e594a6">FloatingBaseModel::_S</a></div><div class="ttdeci">vectorAligned&lt; SVec&lt; T &gt; &gt; _S</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">FloatingBaseModel.h:273</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a0cbf773e101c60267e63d55a1bf1dfad"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a0cbf773e101c60267e63d55a1bf1dfad">FloatingBaseModel::_Xup</a></div><div class="ttdeci">vectorAligned&lt; Mat6&lt; T &gt; &gt; _Xup</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">FloatingBaseModel.h:280</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aad1c033e1d94d42ee028accaf6a48b1e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aad1c033e1d94d42ee028accaf6a48b1e">FloatingBaseModel::updateArticulatedBodies</a></div><div class="ttdeci">void updateArticulatedBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00142">FloatingBaseModel.cpp:142</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a96762b2003a96d46767b15d7a3d083ea"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a96762b2003a96d46767b15d7a3d083ea">FloatingBaseModel::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">FloatingBaseModel.h:238</a></div></div>
<div class="ttc" id="class_floating_base_model_html_af44a91be750979388eafe405c6d94e47"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#af44a91be750979388eafe405c6d94e47">FloatingBaseModel::_forcePropagatorsUpToDate</a></div><div class="ttdeci">bool _forcePropagatorsUpToDate</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00308">FloatingBaseModel.h:308</a></div></div>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00293">293</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00307">307</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00292">292</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00249">249</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">282</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">280</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00295">295</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00259">259</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">283</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ab7fd02229fa714b1e6f29996a1c2f286"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_d</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">242</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a712a346b405bb6093eb0fa13c8360f05"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_dState</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00271">271</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a0175a880c72199694853ace01217b829"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_externalForces</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00277">277</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a5b2494f3b63d53369accdf3b2870bcbb"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_f</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="abb9ab3c0c626c9f25ab122e9ffcd25d4"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;uint64_t&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_footIndicesGC</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00254">254</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="af44a91be750979388eafe405c6d94e47"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_forcePropagatorsUpToDate = false</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00308">308</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a7a1e059d13bd65fdf8b0312503bd03f7"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_frot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a8842415410af02605cbf2727fc8df1d1"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_fvp</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a26d4a6a73adb7857a7479acb1d90402d"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_fvprot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="aabde468364e0ae042c562f5f360fd3b9"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_G</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00283">283</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a761e8ba104250d59f2da1e2bb16b5819"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_gcLocation</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00253">253</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ae60ef8f6b942a637b571d3bd15b88535"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;size_t&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_gcParent</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00252">252</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="adbe2cb8c9a4b37c7d06e0314233a886c"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_gearRatios</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00241">241</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a522468c0af5ec3a25cdf208fab71cba8"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_gravity</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00239">239</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a4465e35d979c34f4844a034fdeba7aef"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_H</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00282">282</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="af6dd90638211526cb3ad96efe0327e0e"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_IA</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">280</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a84bb2ed6a281d63cbac42711a6ed8811"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt;, Eigen::aligned_allocator&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt; &gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Ibody</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">247</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a617042b4c0c0a0ec66e81a7f06641f61"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_IC</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00279">279</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a41ed06adf55fcf19f3c21164d5fa35af"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">Eigen::ColPivHouseholderQR&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_invIA5</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00313">313</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a2083e5e8a0bf82f8892a2ed0e12e71ed"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt;, Eigen::aligned_allocator&lt;<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt;T&gt; &gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Irot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00247">247</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="aaa1aab12e64d31f3c6894d8308cc2fe2"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_J</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00285">285</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a202ffc31ffb2be152fbd3e7ae88e6aa6"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Jc</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00288">288</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a267a9a00ef07004c3c9adf8e889f7b13"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Jcdqd</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00289">289</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ae83e5fdbf8d7b58225d67277cef008ea"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Jdqd</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00286">286</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a8156e678f4dd1248a4db9ba4dcae0aee"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a>&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_jointAxes</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00245">245</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ae40d2d4174e196396dac5d4b008256e0"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../de/d1a/namespacespatial.html#acc851583f244f19d9ea07490e9328b51">JointType</a>&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_jointTypes</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00244">244</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ac22143726acef3ad98453cdf9cd533e6"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_kinematicsUpToDate = false</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00291">291</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a96762b2003a96d46767b15d7a3d083ea"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">size_t <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_nDof = 0</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00238">238</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a854099df21c6973b77d72c3a240e6d85"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">size_t <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_nGroundContact = 0</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00251">251</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a944db3928c026e9c5a55a3f636eec25b"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_pA</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">276</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a9ccd6e6ef64691285c21c46f476cf606"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;int&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_parents</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00240">240</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a04a35058c5642a78b086a964a6c3338d"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_pArot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">276</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a5566ab4692461d4240cec1fdbc2ab948"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_pGC</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00256">256</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a5a61e12fea447a5c9aaceb7125439552"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_qdd_from_base_accel</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00311">311</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="af2a69730c5168e05833b36dd74720e09"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_qdd_from_subqdd</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00312">312</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="abb844f5f64c6ec31daa799d7571b0b06"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_qddEffectsUpToDate = false</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00309">309</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="affbba940c0eeb6b9ea6412ac35e594a6"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_S</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a98a85ca5e91013f487300e57e1d7dbaa"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Srot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ad764230d8d3100438f194afedd3d7a71"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_state</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>BEGIN ALGORITHM SUPPORT VARIABLES. </p>

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00270">270</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ad8f8cb301ed7f7f0ef28f008ed0d5549"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;T&gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_u</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00242">242</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="aa07cb7cfe417d83f34ec01ce53be17c5"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_U</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">276</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a01fa67b8a64827ca6d72e79734528bdf"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Urot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">276</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="ae82236029c85cde87f2af7126cbede1d"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Utot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00276">276</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="aed75622b011966ef7528c3b401db1e8e"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_v</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a74c3f88954fd3f8884d20a1fb436c8cc"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_vGC</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00257">257</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="aeb5d2add3777574bfa13999ce8d2c8c2"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_vrot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00273">273</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a1f78cc373aa9e94a05dd0a3d031f44a3"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Xa</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">280</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

</div>
</div>
<a class="anchor" id="a647e76b4459b43335cf528795bab72d5"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt;, Eigen::aligned_allocator&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Xrot</td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">246</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<a class="anchor" id="afb96756832c10edf60bcb16a0a1589bd"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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        <tr>
          <td class="memname">vector&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt;, Eigen::aligned_allocator&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Xtree</td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00246">246</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<a class="anchor" id="a0cbf773e101c60267e63d55a1bf1dfad"></a>
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<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Xup</td>
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<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">280</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<a class="anchor" id="ae7a4f236f629b8cc582c33cdc8a02707"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt;T&gt; &gt; <a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt;::_Xuprot</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00280">280</a> of file <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html">FloatingBaseModel.h</a></li>
<li><a class="el" href="../../da/de7/_floating_base_model_8cpp_source.html">FloatingBaseModel.cpp</a></li>
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